Articulated surgical tool

Abstract

Various articulated tools for driving fasteners or other surgical instruments are disclosed. The articulated tool may be removably connected to a handpiece including a motor. The articulated tool may include a torque transmitting mechanism including a first shaft extending through an interior cavity of the elongate housing. The first shaft may transmit torque from the motor to the articulated torque transmitting unit. The articulated torque transmitting unit may transmit torque to the tool bit that interlocks with the fastener. The articulated tool may include an orientation mechanism separate from the torque transmitting mechanism. The orientation mechanism may have one or more controllers to rotate the articulated unit and the driver head adapter about one or more axes.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority to U.S. Patent Application No. 63 / 354,656, filed on June 22, 2022, the entire contents of which are hereby incorporated by reference herein. In addition, any application for which a foreign or domestic priority claim is indicated in the Application Data Sheet filed therewith is hereby incorporated by reference pursuant to 37 CFR 1.57. Background Art

[0003] The present disclosure relates to articulating tools for placing fasteners in medical procedures, such as tools for placing screws in endoscopic surgical procedures.

[0004] Surgical tools play an important role in medical procedures, such as in orthopedic surgery, where precise and effective fixation of bone and / or instruments (e.g., plates) is critical. Traditionally, the process of inserting screws into bone is performed manually using a handheld screwdriver. This approach requires the surgeon to have skill and precision, especially in endoscopic surgical procedures, as well as the application of manual force. Reliance on manual force can present challenges, such as in cases involving dense bone or complex anatomy. In addition, there is a significant risk of human error, including misplacement or inadequate fixation of screws, instruments, and / or bone. Summary of the invention

[0005] Electric surgical screwdrivers represent a significant advancement in the field of surgical tools. Electric screwdrivers may include an electric system that enables surgeons to drive screws into bones more efficiently. However, these tools may lack control, stability, and accuracy when operating in confined spaces or at certain angles. In addition, some electric screwdrivers may be inconvenient or unable to operate at certain angles and / or reach certain anatomical structures. For example, some electric screwdrivers may not be able to be inserted into a patient's body in one direction (e.g., substantially parallel to the longitudinal axis of the tool) and may not be able to drive screws in different directions (e.g., substantially perpendicular to the longitudinal axis of the tool). Some electric screwdrivers are fixed at the following angles (e.g., relative to the handle of the tool) at which the screws are driven. For example, this may limit or eliminate the ability of the tool to adjust the driving angle to compensate for the peculiarities of the body structure during a medical procedure. The present disclosure relates to articulated tools that solve one or more of the above problems or other problems.

[0006] The present disclosure describes an articulated surgical driver for fixing screws, plates or other medical implants to a patient during a surgical procedure. The surgical driver can be an electric screwdriver or a non-electric (e.g., motorized or non-motorized) screwdriver that fastens a screw into a patient's bone, tendon or muscle. The surgical driver can have an adjustable head that rotates around two axes that can be spaced apart and / or oriented in different directions. In some embodiments, the adjustable head can be tilted up or down around the short axis (e.g., the lateral axis) of the surgical driver and rotate around the long axis (e.g., the longitudinal axis) of the surgical driver. In some embodiments, the surgical driver can have an adjustable head that is a turret that rotates freely around the short axis of the surgical driver. Advantageously, the surgical driver can operate (e.g., transfer torque from a motor to a cutter head) when the adjustable head is in any orientation. Therefore, the user can easily drive and / or fasten a medical implant (e.g., a screw) independently of the orientation of the driver's handle after positioning the adjustable head in the desired orientation. In several embodiments, an articulating surgical driver allows a user to easily achieve (eg, position fasteners in) a wide range of positions and configurations during a medical procedure.

[0007] In some embodiments, the orientation of the adjustable head is controlled by two control elements (such as two knobs). The first control knob rotates or tilts the adjustable head around the short axis of the surgical driver, and the second control knob rotates the adjustable head around the long axis of the surgical driver. Each control knob actuates the axis of the surgical driver. In some variations, the first control knob actuates a first axis connected to a gear assembly, which is configured to rotate or tilt the adjustable head. The second control knob rotates the second axis directly connected to the adjustable head. When the surgical driver is in a narrow area, the control knob allows the user to easily manipulate the surgical driver to the desired position. The surgical driver can be used to perform minimally invasive surgery or orthopedic surgery, such as craniomaxillofacial surgery, hand and foot surgery, and spinal surgery. Therefore, the articulated surgical driver provides a kind of efficient, safe and precise tool for fixing implants for medical professionals or other users.

[0008] In some aspects, the technology described herein (also referred to as art) relates to an articulated surgical tool. The articulated tool includes an elongated housing including a proximal end, a distal end, an inner cavity, and a longitudinal axis. The elongated housing is configured to engage with a handpiece including a motor. The articulated tool includes a torque transmission mechanism, which includes a first shaft extending through the inner cavity of the elongated housing and an articulated torque transmission unit having a first end and a second end. The first end is connected to the distal portion of the first shaft. The articulated torque transmission unit has a first bevel gear, a second bevel gear, and a third bevel gear. The first bevel gear can be fixedly connected to the first shaft. The second bevel gear can be connected to the gear support shaft. The third bevel gear can be configured to removably engage with a cutter head and rotate the cutter head around the cutter head axis. The torque transmission mechanism can be configured to transmit torque from the motor to the cutter head. Rotating the elongated housing can be configured to rotate the torque transmission mechanism around the longitudinal axis.

[0009] The articulated tool includes an orientation mechanism that can be separated from the torque transfer mechanism. The orientation mechanism includes a second shaft extending through the inner cavity of the elongated housing, wherein the first shaft and the second shaft are concentric. The orientation mechanism includes a fourth bevel gear and a fifth bevel gear. The fourth bevel gear can be fixedly coupled to the second shaft. The fifth bevel gear can be coupled to the driver head adapter. The orientation mechanism can include a controller connected to the proximal portion of the second shaft. The controller can be configured to rotate the second shaft. Rotation of the second shaft can rotate the driver head adapter around a transverse axis. The transverse axis can be substantially perpendicular to the longitudinal axis.

[0010] In some aspects, the technology described herein relates to an articulated surgical tool wherein the second bevel gear can be a double-sided bevel gear.

[0011] In some aspects, the technology described herein relates to an articulated surgical tool in which a tool tip axis is not coplanar with a longitudinal axis.

[0012] In some aspects, the technology described herein relates to an articulated surgical tool wherein a second bevel gear is located between the longitudinal axis and the tool tip axis.

[0013] In some aspects, the technology described herein relates to an articulating surgical tool in which the tool head is a bone drill bit.

[0014] In some aspects, the technology described herein relates to an articulated tool configured to facilitate placement of surgical instruments, such as fasteners (e.g., screws) or drill bits, during a medical procedure. The articulated tool may include an elongated housing including a proximal end, a distal end, an inner cavity, and a longitudinal axis. The elongated housing may be configured to engage with a handpiece including a motor. The articulated tool may include a torque transfer mechanism. The torque transfer mechanism may include a first shaft extending through the inner cavity of the elongated housing. The torque transfer mechanism may include an articulated torque transfer unit having a first end and a second end. The first end may be coupled to a distal portion of the first shaft. A driver head adapter may be located at the second end of the articulated torque transfer unit.

[0015] The driver head adapter can be configured to removably engage with the cutting head and rotate the cutting head about the cutting head axis. The cutting head can be configured to engage with a surgical instrument, such as a fastener (e.g., a screw) or a drill bit. The torque transfer mechanism can be configured to transfer torque from the motor to the driver head adapter and the cutting head. Rotating the elongated housing can be configured to rotate the torque transfer mechanism about the longitudinal axis.

[0016] The articulated tool may include an orientation mechanism separate from the torque transfer mechanism. The orientation mechanism may include a second shaft extending through the inner cavity of the elongated housing. The orientation mechanism may include a controller connected to the proximal portion of the second shaft. The controller may be configured to rotate the second shaft. The driver head adapter may be connected to the distal portion of the second shaft. Rotation of the second shaft may rotate the driver head adapter around a transverse axis. The transverse axis may be substantially perpendicular to the longitudinal axis.

[0017] In some aspects, the technology described herein relates to an articulated tool, wherein the orientation mechanism includes a first bevel gear and a second bevel gear. The first bevel gear can be fixedly coupled to the second shaft. The second bevel gear can be coupled to the driver head adapter.

[0018] In some aspects, the technology described herein relates to an articulating tool in which a driver head adapter is configured to rotate between about 0° and about 360° about a transverse axis.

[0019] In some aspects, the technology described herein relates to an articulating tool in which a driver head adapter is configured to complete multiple rotations about a transverse axis.

[0020] In some aspects, the technology described herein relates to an articulated tool, wherein the articulated torque transfer unit includes a first bevel gear, a second bevel gear, and a third bevel gear. The first bevel gear can be fixedly coupled to a first shaft. The second bevel gear can be coupled to a gear support shaft. The third bevel gear can be removably coupled to a tool head.

[0021] In some aspects, the technology described herein relates to an articulating tool in which a driver head adapter includes an inner cavity configured to receive a shaft of a tool bit. The driver head adapter can be coupled to the shaft of the tool bit via a quick release mechanism.

[0022] In some aspects, the technology described herein relates to an articulating tool in which the elongated housing is configured to rotate between about 0° and about 360° about a longitudinal axis relative to a controller.

[0023] In some aspects, the technology described herein relates to an articulating tool in which an elongated housing is configured to complete a plurality of rotations about a longitudinal axis relative to a controller.

[0024] In some aspects, the technology described herein relates to an articulated tool wherein the controller includes a wheel, wherein rotation of the wheel causes a second axis to rotate.

[0025] In some aspects, the technology described herein relates to an articulated tool wherein the controller includes a locking clutch that locks rotation of the second shaft.

[0026] In some aspects, the technology described herein relates to an articulated tool in which an elongated housing is connected to a wheel, and in which rotation of the wheel causes the elongated housing to rotate.

[0027] In some aspects, the technology described herein relates to an articulated tool configured to facilitate placement of surgical instruments, such as fasteners (e.g., screws) or drill bits during a medical procedure. The articulated tool may include a multi-part elongated housing including an upper portion, a lower portion, a proximal end, a distal end, an inner cavity, and a longitudinal axis. In certain embodiments, the multi-part elongated housing may be configured to engage with a handpiece including a motor. The articulated tool may include a torque transmission mechanism including a first shaft extending through the inner cavity of the multi-part elongated housing. The torque transmission mechanism may include an articulated torque transmission unit having a first end and a second end. The first end may be coupled to a distal portion of the first shaft. The torque transmission mechanism may include a driver head adapter, which may be located at the second end of the articulated torque transmission unit. The driver head adapter may be configured to removably engage with a tool head and rotate the tool head around a tool head axis. The tool head may be configured to engage with a surgical instrument, such as a fastener (e.g., screw) or a drill bit. The torque transmission mechanism may include a controller. The controller can be configured to move (e.g., rotate) the articulated torque transfer unit, such as about a transverse axis. The transverse axis can be substantially perpendicular to the longitudinal axis. The controller can be configured to move the articulated torque transfer unit, such as by advancing and / or retracting the upper portion of the multi-part elongated housing. The torque transfer mechanism can be configured to transfer torque from the motor to the driver head adapter and the cutter head. Although the above discussion describes a multi-part elongated housing, some embodiments include a single and / or non-multi-part elongated housing.

[0028] In some aspects, the technology described herein relates to an articulated tool, wherein the articulated torque transmission unit includes a first bevel gear, a second bevel gear, a third bevel gear, and a fourth bevel gear. The first bevel gear can be fixedly coupled to a first shaft. The second bevel gear can be coupled to a first gear support shaft. The third bevel gear can be coupled to a second gear support shaft. The fourth bevel gear can be removably coupled to a tool head.

[0029] In some aspects, the technology described herein relates to an articulated tool, wherein the second bevel gear includes a set of second bevel gears. The third bevel gear may include a set (eg, a plurality) of third bevel gears.

[0030] In some aspects, the technology described herein relates to an articulated tool in which a controller is configured to rotate an articulated torque transfer unit by advancing or retracting a lower portion of a multi-part elongated housing.

[0031] In some aspects, the technology described herein relates to an articulating tool wherein rotating a multi-part elongated housing is configured to rotate a torque transmitting mechanism about a longitudinal axis.

[0032] In some aspects, the technology described herein relates to an articulated surgical screwdriver adapter. The adapter may include a proximal end having a body configured to be removably connected to a rotary driver and / or a drive output (e.g., a drive shaft). The proximal end may be configured to be connected to an electric or non-electric driver (such as a driver with an electric motor or a driver with a handle that is manually turned). The articulated surgical screwdriver adapter may include a distal end having a driver head adapter. The driver head adapter may be configured to perform articulation and rotation relative to the body. The driver head adapter may be configured to removably receive a driver head that can be engaged with a surgical instrument (such as a fastener (e.g., a screw) or a drill bit). The articulated surgical screwdriver adapter may include an orientation control unit. The orientation control unit may be configured to control the articulation of the driver head adapter. The articulated surgical screwdriver adapter may include a torque transfer unit. The torque transfer unit may be configured to be removably connected to the drive output and / or to transmit torque from the drive output to the driver head adapter so that the driver head rotates the surgical instrument.

[0033] In some aspects, the technology described herein is directed to an assembly that includes an articulating surgical screwdriver adapter, a surgical driver, and a driver head.

[0034] In some aspects, the technology described herein relates to an articulating surgical screwdriver adapter in which an orientation control unit includes an arm and is configured to convert lateral movement of the arm into rotational movement of the driver head adapter.

[0035] In some aspects, the technology described herein relates to an articulated surgical screwdriver adapter in which an orientation control unit includes an arm and is configured to convert rotational movement of the arm into rotational movement of the driver head adapter.

[0036] In some aspects, the technology described herein relates to an articulated surgical screwdriver adapter, wherein the driver head adapter includes a first gear and a second gear. The first gear and the second gear can be configured to rotate about respective axes that are substantially parallel to each other and / or substantially perpendicular to the longitudinal axis of the articulated surgical screwdriver adapter.

[0037] In some aspects, the technology described herein relates to an articulated surgical screwdriver adapter in which the directional control unit includes a spring-biased clutch. The spring may include, for example, a coil spring, a leaf spring, or a helical spring, a wave spring, or the like.

[0038] In some aspects, the technology described herein relates to an articulated surgical screwdriver adapter. The adapter may include a proximal end configured to be removably connected to a surgical driver having a drive output, such as a surgical driver having a motor. The articulated surgical screwdriver adapter may include a distal end configured to be removably connected to the proximal end. The distal end may include a driver head adapter that may be configured to articulate and rotate relative to the proximal end. The driver head adapter may be configured to removably receive a driver head that may engage with a surgical instrument, such as a fastener or a drill bit. The articulated surgical screwdriver adapter may include an orientation control unit configured to control the articulation of the driver head adapter. The articulated surgical screwdriver adapter may include a torque transfer unit configured to be removably connected to the drive output and to transmit torque from the drive output to the driver head adapter so that the driver head rotates the surgical instrument.

[0039] In some aspects, the technology described herein relates to an articulating surgical screwdriver adapter wherein the distal end further includes a quick release mechanism.

[0040] In some aspects, the technology described herein relates to an articulating surgical screwdriver adapter in which a quick release mechanism includes first and second opposed spring-biased buttons.

[0041] In some aspects, the technology described herein relates to an articulating surgical screwdriver adapter wherein the proximal end includes a first guide pin and a second guide pin configured to removably engage a quick release mechanism.

[0042] The foregoing summary, the following detailed description and the associated drawings do not limit or define the scope of protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Throughout the drawings, reference numerals are repeated to indicate corresponding relationships between referenced elements. The drawings are provided to illustrate certain aspects of the subject matter described herein and are not intended to limit the scope thereof.

[0044] Figure 1 and Figure 2A A front perspective view and a side view, respectively, of an embodiment of a fastening system including an articulating tool and a handpiece are shown.

[0045] Figure 2B and Figure 2C They are shown respectively Figure 2A Front and side sections of the fastening system.

[0046] Figure 3 and Figure 4 They are shown respectively Figure 1and FIG. 2A to FIG. 2C Front and rear views of the fastening system.

[0047] Figure 5 and Figure 6 They are shown respectively Figure 1 and FIG. 2A to FIG. 2C Top and bottom views of the fastening system.

[0048] Figure 7 , Figure 8 and Fig. 9 They are shown respectively Figure 1 and FIG. 2A to FIG. 2C Stereoscopic, side and top views of a driver head adapter of a fastening system.

[0049] Fig. 10A Shows Figure 7 , Figure 8 and Fig. 9 A perspective view of a drive head adapter in a first position, wherein the cover is depicted as transparent to show certain internal components.

[0050] Fig. 10B and Fig. 10C The second and third positions are shown respectively. Fig. 10A A drive head adapter of FIG. 1 , where the cover is depicted as transparent to show certain internal components.

[0051] Fig.11 and Fig.12 They are shown respectively FIG. 10A to FIG. 10C A perspective and side view of the internal components of a drive head adapter.

[0052] Fig.13 and Fig.14 They are shown respectively FIG. 10A to FIG. 10C Top and bottom views of the internal components of the drive head adapter.

[0053] Fig.15 Shows FIG. 10A to FIG. 10C A perspective view of the internal components of a drive head adapter without the drive head installed.

[0054] Fig.16 Shown with FIG. 10A to FIG. 10C A perspective view of the driver head with a portion of the driver head adapter (e.g., the hexagonal recess of the fourth bevel gear) separated.

[0055] Fig.17 Shows Figure 1 and FIG. 2A to FIG. 2C A fastening system is provided to the distal end of the multi-part shaft.

[0056] Fig.18An embodiment of a fastening system including an articulating tool having a rotary table drive head adapter and a handpiece is shown.

[0057] Fig.19 Shows Fig.18 A top view of a body connection assembly of a fastening system.

[0058] Fig. 20 Shows Fig.18 A stereoscopic view of a fastening system in which the body coupling assembly is separated from the handpiece.

[0059] Fig.21 Shows Fig.18 A rear perspective view of a fastening system with the body coupling assembly separated from the handpiece.

[0060] Fig. 22 Shown attached to Fig.18 A top partial cross-sectional view of a body coupling assembly of a handpiece of a fastening system.

[0061] Fig.23 Shows Fig.18 A side cross-sectional view of a body coupling assembly of a fastening system.

[0062] Fig.24 Shows Fig.18 A close-up view of the fastening system for the rotary drive head adapter.

[0063] Fig.25 and Fig.26 Shows Fig.24 A close-up view of certain internal components of the turntable drive head adapter of FIG. 1 , with certain cover components not shown for illustration purposes.

[0064] Fig. 27 Shows Fig.24 Side view of the rotary table drive head adapter.

[0065] Fig.28 Shows Fig.18 Front cross-sectional view of the fastening system.

[0066] Fig.29 Shows Fig.18 A close-up cross-sectional view of an articulated tool for a fastening system.

[0067] Figure 30 to Figure 32 Shows Fig.24 Side and front views of the circular front plate of the front cap of the rotary table drive head adapter.

[0068] Fig.33 A perspective view of a portion of an embodiment of a fastening tool including a rotary table drive head adapter is shown.

[0069] Fig.34A and Fig.34B They are shown respectively Fig.33 Right side view and left side view of the fastening tool.

[0070] Fig.35 and Fig.36 They are shown respectively Fig.33 Front and rear views of the fastening tool.

[0071] Fig.37A and Fig.37B They are shown respectively Fig.33 Top and bottom views of the fastening tool.

[0072] Fig.38 Shows Fig.33 A perspective view of certain internal components of a rotary drive head adapter of a fastening tool, wherein certain cover components are not shown for illustration purposes.

[0073] Fig.39 and Fig.40 They are shown respectively Fig.38 Front and rear views of the internal components of the rotary drive head adapter.

[0074] Fig.41 An embodiment of a fastening system including a handpiece having a handle is shown. DETAILED DESCRIPTION

[0075] During a surgical procedure, inserting a screw into a bone or drilling a hole with a drill may be challenging due to the location and / or orientation of the bone, surrounding anatomical structures (e.g., muscles, ligaments, tendons, blood vessels, nerves, or other aspects), the shape and condition of the bone, and / or other aspects. In some surgical procedures, there may be limitations on the desired insertion position and / or angle of the screw on the bone. Retracting or repositioning the fastening tool to adjust the insertion position and / or angle may be time-consuming, traumatic to the patient, and / or inconvenient or impractical (such as when the direct access path of the fastening tool is blocked by other anatomical structures).

[0076] A fastening tool comprising an extension having a flexible or resilient portion can assist in navigating a driver head within a patient's body. However, the flexible or resilient portion may not be efficient in transmitting torque sufficient to insert a screw into the cortex of a bone, etc.

[0077] A fastening tool with a rigid and / or non-flexible and / or non-elastic extension that can change direction can help navigate the driver head in the patient's body while also efficiently transmitting torque. In some embodiments, such an extension can include an articulated component configured to articulate at multiple angles on multiple axes. This can allow the fastening tool to be adjusted (e.g., bent or pivoted) to enter a small space, reduce the frequency of the user repositioning, and / or provide the desired orientation of the fastening tool. It can be beneficial that the fastening tool can maintain sufficient torque output to perform the intended function (e.g., inserting a set screw into a bone) at the same time. In some embodiments, the extension includes an adapter that is configured to (e.g., removably) be connected to a fastening tool, such as an existing electric driver.

[0078] It may be beneficial to have an extension having an articulated component having an outer profile comparable to a standard non-articulated fastening tool. A smaller outer profile may reduce the need for larger sized access ports (e.g., trocars) and / or allow a fastening tool having an articulated component to enter spaces that are normally accessible by a standard non-articulated fastening tool.

[0079] In some embodiments, gearing (e.g., bevel gears or helical gears) can provide improved overall range for articulated components (such as articulated drive heads). It can be desirable to use gears and gear mechanisms that will fit into the available space while maintaining sufficient torque output to perform the original function. Any type of gear (e.g., spur gears, helical gears, worm gears, internal gears, etc.) can be used for any gear assembly described herein.

[0080] Several embodiments of articulating tools for endoscopically placing fasteners that provide one or more of the above benefits or other benefits are disclosed herein.Several embodiments of the articulating tools may be used with a fastener driving bit, drill bit, or other tool.

[0081] Any of the structures, materials, steps, or other features disclosed above or elsewhere herein may be used in any embodiment of the present disclosure. Any structure, material, step, or other feature of any embodiment may be combined with any structure, material, step, or other feature of any other embodiment to form further embodiments, which are part of the present disclosure.

[0082] The various features and advantages of the disclosed technology will become more fully apparent through the following description of several specific embodiments shown in the accompanying drawings. These embodiments are intended to illustrate the principles of the present disclosure. However, the present disclosure should not be limited to the illustrated embodiments. As will be apparent to those of ordinary skill in the art after considering the principles disclosed herein, the features of the illustrated embodiments may be modified, combined, removed, and / or replaced. None of the features, structures, or steps disclosed herein are essential or indispensable.

[0083] Articulated tool with torque transmission unit ( Figures 1 to 17 )

[0084] Figure 1 and Figure 2A A front perspective view and a side view, respectively, of an embodiment of a fastening system 150 including the articulating tool 100 and the handpiece 106 are shown. Figure 2B and Figure 2C A front cross section and a side cross section of the fastening system 150 are shown, respectively. Figure 3 and Figure 4 A front view and a rear view of the fastening system 150 are shown, respectively. The fastening system 150 can be configured to facilitate placement of surgical instruments, such as fasteners (e.g., screws) or drill bits, during a medical procedure, such as in an endoscopic surgical procedure. As shown, the articulated tool 100 can have a longitudinal axis L.

[0085] The articulated tool 100 may include a body coupling assembly 102 and a tightening tool 104. The body coupling assembly 102 may have a proximal end and a distal end. The distal end may be the end closest to the handpiece 106, and the distal end may be the end farthest from the handpiece 106. In some embodiments, the proximal end of the body coupling assembly 102 may have a stabilizing ring 130 that surrounds the distal end of the handpiece 106 (e.g., attached to the end of the body coupling assembly 102). In some embodiments, the stabilizing ring 130 may be coupled to the body coupling assembly 102 by forming a friction fit with the handpiece 106. Alternatively, the stabilizing ring 130 may have a magnet, a latch, a clamp, and / or any other coupling mechanism described herein that couples with a corresponding mechanism on the handpiece 106.

[0086] As shown, the body coupling assembly 102 can have one or more arms 132 (e.g., two arms 132). In some embodiments, the arms 132 can connect the proximal and distal sections of the body coupling assembly 102 while creating an open central area. The open central area can provide space for one or more control wheels 118, 120 and one or more shafts (e.g., the inner shaft 114 and / or the output shaft 128). Advantageously, the arms 132 increase the stability and functionality of the body coupling assembly 102 while reducing the weight and size of the body coupling assembly 102. In some embodiments, the body coupling assembly 102 includes a bridge 134 that connects the arms 132 at the center of the body coupling assembly 102 and creates two or more open central areas.

[0087] In some embodiments, the fastening tool 104 can extend from the distal end of the body coupling assembly 102. The fastening tool 104 can be a screwdriver, an Allen wrench, a hex key, or any other type of fastening driver or device. As shown, the articulated tool 100 can have an x-axis, a y-axis, and a z-axis. The articulated tool 100 and its various components can be made of metal (such as aluminum, steel, titanium, or iron) or non-metal (such as hard plastic). In some variations, the components of the articulated tool 100 are made of composite materials (such as carbon fiber reinforced resin).

[0088] In some embodiments, the articulated tool 100 may include one or more control wheels 118, 120. One or more control wheels 118, 120 may be digital and / or analog. The size of the first control wheel 118 and the second control wheel 120 may be the same or different. For example, in some embodiments, the diameter of the first control wheel 118 may be 30 mm and the diameter of the second control wheel 120 may be 20 mm. The diameter of the wheel may vary to accommodate different needs and user preferences. For example, one or more of the wheels 118, 120 may have a diameter of 1 mm, 5 mm, 10 mm, 15 mm, 40 mm, a diameter greater than 40 mm, or any diameter therebetween. In some embodiments, one or more control wheels 118, 120 may be coaxially positioned along the z-axis. For example, the first control wheel 118 may be located in the middle of the body coupling assembly 102, and the second control wheel 120 may be located on the distal end of the body coupling assembly 102. In some embodiments, one or more control wheels 118, 120 may be located on the handpiece 106 or the fastening tool 104. In some embodiments, one or more control wheels 118 , 120 may be located on two or more different axes (eg, a first z-axis and a second z-axis offset from the first z-axis).

[0089] The fastening tool 104 may include a driver head adapter 700. In various embodiments, the driver head adapter 700 can be rotated, articulated, moved, rotated, and / or repositioned relative to the handpiece 106. For example, the articulated tool 100 can have a multi-part shaft (e.g., a two-part shaft) 122 that is configured to rotate the driver head adapter 700 about an x-axis (e.g., an axis that is substantially perpendicular to the longitudinal axis of the articulated tool 100), as discussed in more detail below. Thus, the multi-part shaft 122 can advantageously allow a user to better control the driver head adapter 700 and provide a greater range of positions for the driver head adapter 700 during operation.

[0090] The multi-part shaft 122 can include a first part, which can be a lower shaft part 124, and a second part, which can be an upper shaft part 126. In some embodiments, the upper shaft part 126 moves independently of the lower shaft part 124. For example, the upper shaft part 126 can move axially (e.g., translate) along the z-axis (e.g., the longitudinal axis of the tool 100), such as toward or away from the hand piece 106. In some embodiments, the lower shaft part 124 can move axially (e.g., along the z-axis) (e.g., translate), such as toward or away from the hand piece 106. In some embodiments, the position of the upper shaft part 126 relative to the position of the lower shaft part 124 determines the tilt of the driver head adapter 700. For example, in some embodiments, the user can adjust the driver head adapter 700 downward (e.g., tilt or pivot it) by advancing the upper shaft part 126, and adjust the driver head adapter 700 upward (e.g., tilt or pivot it) by retracting the upper shaft part 126. In some variations, a user may tilt driver head adapter 700 upward by advancing lower shaft portion 124 , and tilt driver head adapter 700 downward by retracting lower shaft portion 124 .

[0091] In some embodiments, one or both of the first portion and the second portion rotate, such as relative to each other and / or relative to a handle of the tool 100. For example, in some variations, rotating the first (or alternatively, the second) portion in a first rotational direction can adjust the driver head adapter 700 downward (e.g., tilt or pivot it) by advancing the first (or alternatively, the second) portion, and rotating the first (or alternatively, the second) portion in a second rotational direction can adjust the driver head adapter 700 upward (e.g., tilt or pivot it) by retracting the first (or alternatively, the second) portion. A portion of the driver head adapter 700 can be, for example, threadedly connected to the first portion and / or the second portion to enable the driver head adapter 700 to move (e.g., pivot).

[0092] In some embodiments, the user can adjust the position of the upper shaft portion 126 and / or the lower shaft portion 124 via one or more control wheels 118, 120 on the handpiece 106. For example, rotating the control wheel 118 in a first direction (e.g., clockwise) can advance the upper shaft portion 126 forward (e.g., away from the handpiece 106) while the lower shaft portion 124 remains stationary. Similarly, rotating the control wheel 118 in a second direction (e.g., counterclockwise) can retract the upper shaft portion 126 toward the handpiece 106. In some embodiments, one or more control wheels 118 control the lower shaft portion 124 or two portions of the multi-part shaft 122. For example, rotating the control wheel 120 clockwise can advance the upper shaft portion 126 while retracting the lower shaft portion 124.

[0093] In some embodiments, the position of the driver head adapter 700 can be adjusted and / or rotated about the z-axis in response to actuation of one or more control wheels 118, 120. For example, in some embodiments, a user can rotate the fastening tool 104 relative to the handpiece 106 by turning the control wheel 120. In some embodiments, the tool 100 is configured to enable a user to tilt the driver head adapter 700 and rotate the fastening tool 104 (e.g., sequentially or simultaneously). For example, the control wheel 118 can be used to tilt the driver head adapter 700, while the control wheel 120 can be used to rotate the fastening tool 104. In some embodiments, such as Figure 1 As shown, driver head adapter 700 includes an articulating joint and / or can articulate like a joint.

[0094] In some embodiments, the position of the driver head adapter 700 can be adjusted by one or more operator controls 110. For example, in some embodiments, one or more operator controls 110 can be used to tilt and / or rotate the driver head adapter 700. In some embodiments, the fastening system 150 has one or more articulation motors that can be used to position the driver head adapter 700. In some embodiments, a portion of the multi-part shaft 122 is advanced or retracted in response to a user actuating (e.g., pressing) one or more operator controls 110 (e.g., buttons, switches, levers, arms, or other devices). In certain embodiments, one or more operator controls 110 can be used to rotate the fastening tool 104 relative to the handpiece 106. The operator controls 110 can be, for example, tactile buttons and / or capacitive buttons.

[0095] In some embodiments, the handpiece 106 may include features for improving the user's control by helping the user grasp or guide the handpiece 106 and / or the articulated tool 100. For example, the handpiece 106 may include a fin 112 that allows the user to easily and securely grasp the handpiece 106. The fin 112 may include a pistol grip. In some variations, the tool 100 includes a pencil grip.

[0096] Figure 5 and Figure 6 A top view and a bottom view of the fastening system 150 are shown, respectively. In some embodiments, the articulated tool 100 can be removably connected to the handpiece 106, such as by a body coupling assembly 102. Being removable can advantageously allow a user to quickly switch between different fastening tools 104 (e.g., from a screwdriver to a hex key, from a fastening tool of one length to a fastening tool of a different length, etc.) or quickly replace a damaged fastening tool 104. In several embodiments, the body coupling assembly 102 can be slidably engaged with and / or attached to the handpiece 106. For example, the body coupling assembly 102 can be configured to slide over and / or out of the distal end of the handpiece 106 along a direction generally parallel to the longitudinal axis L (e.g., the z-axis).

[0097] In various embodiments, when the body coupling assembly 102 is attached to the handpiece 106, the tool 100 is securely and / or rigidly attached to the handpiece 106. The body coupling assembly 102 may include one or more mating features designed to interlock with corresponding one or more mating features of the handpiece 106. The mating features may include, for example, complementary grooves, tabs, and / or slots that securely engage with each other. In some embodiments, the body coupling assembly 102 is connected to the handpiece 106 by a friction fit. In certain embodiments, the body coupling assembly 102 and / or the handpiece 106 may include one or more fastening mechanisms that can be easily engaged or disengaged to facilitate assembly and disassembly of the articulated tool 100 to the handpiece 106, such as screws, clamps, friction fits, quick releases, ratchets, and / or snaps. In some embodiments, the articulated tool 100 may be permanently connected to the handpiece 106.

[0098] Figure 7 , Figure 8 and Fig. 9A perspective view, a side view, and a top view of an embodiment of a driver head adapter 700 of an articulated tool 100 are shown, respectively. In some embodiments, the driver head adapter 700 is located at the distal end of the fastening tool 104. The driver head adapter 700 can be configured to removably receive a driver head 116 (e.g., a cutter head or other medical tool). In some embodiments, the driver head can be engaged with a fastener (such as a bone screw, a bone fixation pin, a surgical anchor, and / or a surgical nail). In some embodiments, the driver head can be engaged with a drill, a bone drill, a debridement device, or other cutting or drilling instruments. In some positions, such as when the driver head adapter 700 points downward, the longitudinal axis of the driver head 116 can intersect with the longitudinal axis L of the articulated tool 100.

[0099] In some embodiments, the handpiece 106 may include one or more drive motors (not shown), a power source 108 (e.g., a battery), and / or other features. The one or more drive motors may be electric. In some embodiments, the driver head adapter 700 and the driver head 116 may receive torque from the one or more drive motors housed within the handpiece 106. For example, the articulated tool 100 may be tightened by the inner shaft 114 of the fastening tool 104 (see Figure 2B , Figure 2C and Fig.11 ) transfers torque from one or more motors to the driver head adapter 700, which may be coupled directly or indirectly to the output drive shaft 128 of the motor (see Figure 2C ). In some embodiments, the shaft 114 is received in a connector unit 136 that couples the shaft 114 and the drive shaft 128 for rotation and torque transfer. In some embodiments, the motor is controlled by one or more operator controls 110. For example, a first button may drive the motor and drive head 116 clockwise, while a second button may drive the motor and drive head 116 counterclockwise. In some embodiments, there may be one or more buttons that control the speed and / or amount of torque transferred from the motor to the drive head 116.

[0100] In some embodiments, the driver head 116 is configured to be manually operated. For example, a user can use the control wheel 120 to rotate the driver head 116. In some embodiments, the articulated tool 100 uses a gear system (not shown) to amplify or reduce the torque received at the control wheel 120, and then transmits the torque received from the user to the driver head 116. In some embodiments, the torque received at the control wheel 120 is directly transmitted to the driver head 116. In some embodiments, the user can rotate all or a portion of the handpiece 106 to rotate the driver head 116. For example, in some embodiments, the user can rotate the handpiece 106 while keeping the body coupling assembly 102 stationary to rotate the driver head 116. It should be understood that the handpiece 106 can take a variety of different shapes and sizes. For example, in some embodiments, the handpiece 106 is cylindrical and tapered at both ends (see Fig.41 4100 in FIG. 4 ). In some variations, the handpiece 106 may have a square cross-section, an oval cross-section, or a hexagonal cross-section. In some cases, the handpiece 106 lacks a fin 112 or a compartment for a battery or motor. In some embodiments, torque from any type of driver, motor, or pump may be transmitted to the driver head 116 through any of the articulated tools and gear systems described herein.

[0101] The rotation and / or torque of the wheel 120 can be transmitted to the driver head through the internal shaft 114. For example, the control wheel 120 can be connected to the internal shaft 114 to rotate one or more gears of the gear assembly 1000 (see Figure 10). In some embodiments, the gear assembly 1000 can be configured to rotate the driver head 116. The gear assembly 1000 will be discussed in more detail below.

[0102] In some embodiments, the driver head adapter 700 can have a front cap 725. The cap 725 can include a circular front plate 730 and a recess 735. The recess 735 can be configured to receive the protrusion 900 of the stabilizer 1005. The stabilizer 1005 can be configured to securely receive the end of the driver head 116 (such as a screwdriver bit). For example, the proximal end of the driver head 116 can abut against the stabilizer 1005. In some embodiments, the stabilizer 1005 can help position the driver head 116 inside the driver head adapter 700 and / or can reduce unwanted movement of the driver head 116. For example, in certain variations, the stabilizer 1005 is configured to inhibit or prevent the driver head 116 from shaking or breaking (shearing) during operation of the articulated tool 100. This can reduce wear (e.g., on the articulated tool 100, the driver head 116, and / or the operator), enhance the secure driving of the screw, and / or improve efficiency. In some embodiments, the stabilizer 1005 provides a physical interference (eg, a stop) by which a distally directed force may be applied from the handpiece, through the articulating tool 100 and / or the driver head 116, and into a fastener or other surgical instrument.

[0103] FIG. 10A to FIG. 10C A perspective view of a driver head adapter 700 is shown, wherein the cover is depicted as transparent to show certain internal components. As will be discussed in more detail below, the driver head adapter can be articulated, such as in FIG. 10A to FIG. 10C 106. The present invention relates to a method for manufacturing a plurality of drive head adapters 700 that can be used to manufacture a plurality of drive head adapters 700. The present invention relates to a method for manufacturing a plurality of drive head adapters 700 that can be used to manufacture a plurality of drive head adapters 100 that can be used to manufacture a plurality of drive head adapters 100. In some embodiments, the internal components of the driver head adapter 700 include a torque transfer unit 1010, as discussed in more detail below. The torque transfer unit 1010 may include a component that transmits torque from the motor in the handpiece 106 to the driver head 116. In various embodiments, the torque transfer unit 1010 is configured to receive torque from the internal shaft 114, which can be coupled to the motor as described above. The torque transfer unit 1010 can transmit torque from the internal shaft 114 to the driver head 116. In various embodiments, the torque transfer unit 1010 maintains the direction of the motor. For example, the driver head adapter can rotate the driver head 116 in the same direction as the motor rotates the internal shaft 114.

[0104] Fig.11 and Fig.12A perspective view and a side view of an embodiment of the internal components of the driver head adapter 700 are respectively shown. In some embodiments, the torque transfer unit 1010 includes a gear assembly 1000. In some embodiments, the gear assembly 1000 includes a plurality of bevel gears. For example, the gear assembly 1000 may include a first bevel gear 705, one or more second bevel gears 710, one or more third bevel gears 715, and a fourth bevel gear 720. The first bevel gear 705 can be fixedly coupled to the distal end of the internal shaft 114 of the fastening tool 104. Thus, the first bevel gear 705 can receive torque from the drive motor through the internal shaft 114. In some embodiments, the first bevel gear 705 can intermesh with one or more second bevel gears 710. The one or more second bevel gears 710 can intermesh with one or more third bevel gears 715. The one or more third bevel gears 715 can intermesh with the fourth bevel gear 720. In some embodiments, the fourth bevel gear 720 can be configured to removably engage with the driver head 116 (e.g., receive the driver head 116), such as Fig.16 As shown. The fourth bevel gear 720 can be configured to transmit torque to the driver head 116. For example, the fourth bevel gear 720 can have a hexagonal recess 1500 (see Fig.15 ), which is configured to receive a corresponding hexagonal portion 1600 of the shaft of the driver head 116 (see Fig.16 ). The flat area of ​​the hexagonal recess 1500 can inhibit or prevent the driver head 116 from rotating independently of the fourth bevel gear 720. The recess of the fourth bevel gear 720 can be a recess of any shape configured to inhibit or prevent the driver head 116 from rotating independently of the fourth bevel gear 720. Any type of gear (e.g., spur gears, helical gears, worm gears, internal gears, etc.) can be used for any gear assembly described herein.

[0105] Fig.13 and Fig.14A top view and a bottom view of the internal components of the driver head adapter 700 are shown, respectively. Advantageously, in embodiments having a plurality of second bevel gears 710 and / or a plurality of third bevel gears 715, the gear assembly 1000 distributes the motor torque between the left and right sides of the gear assembly 1000 while also facilitating articulation (as described below). More specifically, the first bevel gear 705 transmits approximately half of the motor torque to the second gear 710A on the right and approximately half of the motor torque to the second gear 710B on the left. In certain embodiments, the motor torque is distributed between the gears of the third set of bevel gears 715A, 715B. The fourth gear receives half of the motor torque from the third right gear 715A and half of the motor torque from the third left gear 715B. Thus, the fourth gear receives approximately all of the motor torque (e.g., approximately half from each side of the gear assembly 1000). Distributing the motor torque between the two sides of the gear assembly 1000 reduces the forces experienced by the second set of bevel gears 710A, 710B and the third set of bevel gears 715A, 715B. For example, distributing the torque can allow the gear assembly 1000 to safely, reliably, and / or efficiently transmit high torque loads. In some embodiments, distributing the motor torque between the two sides of the gear assembly 1000 can reduce cost and / or size by allowing at least the second set of bevel gears 710A, 710B and the third set of bevel gears 715A, 715B to use smaller and / or less strong bevel gears.

[0106] Fig.15 A perspective view of the internal components of the driver head adapter 700 without the housing or driver head is shown. As described above, the hexagonal recess 1500 is configured to securely and removably connect to the driver head 116 and transmit torque to the driver head 116. The removable driver head 116 allows the user to quickly change between different driver heads 116. For example, the user may want to switch to a different type of driver head 116 or replace a damaged or worn driver head.

[0107] In some embodiments, the torque transfer unit 1010 is configured to articulate when the driver head adapter 700 moves. For example, the torque transfer unit 1010 can be configured to rotate about the x-axis (the transverse axis of the fastening tool 104). In some embodiments, the second set of bevel gears 710 are located on the first pin or the first set of pins 1505, and the third set of bevel gears 715 are located on the second pin or the second set of pins 1510. For example, Fig.15As shown, pin 1505 may extend between and connect the second set of bevel gears 710, and each of the third set of bevel gears 715 may have a separate pin 1510. The pin or pin set 1505, 1510 may be attached to the housing of the driver head adapter 700 and cause the third set of bevel gears 715 to rotate about the first guide pin 1505 when the driver head adapter 700 is tilted. Thus, when the driver head adapter 700 is tilted, the torque transfer unit 1010 may transfer torque from the motor to the driver head 116.

[0108] Fig.16 A perspective view of the driver head 116 disengaging from the hexagonal recess 1500 of the fourth bevel gear 720 is shown. As described above, the driver head 116 has a corresponding hexagonal portion 1600. The articulated tool 100 can be used for various types of operations, such as ablation, imaging, and biopsy. Therefore, in some embodiments, the driver head 116 can be an electrode or ablation device, a dedicated imaging probe, a cutting tool, a grasper, or any other type of surgical tool.

[0109] Fig.17 The distal end of the multi-part shaft 122 of the fastening tool 104 is shown. In some embodiments, the fastening tool 104 has an upper anchor point 1700 and a lower anchor point 1705 for the driver head adapter 700. The two anchor points 1700, 1705 allow the driver head adapter 700 to rotate about the x-axis, as described above. Overall, the fastening system 150 allows the user to accurately and efficiently treat patients undergoing surgical procedures by providing greater control, reliability, and durability.

[0110] Articulated tool with rotary drive head adapter ( Figures 18 to 29 )

[0111] Fig.18 An embodiment of a fastening system 1850 including an articulated tool 1800 having a rotary table drive head adapter 1810 and a handpiece 1825 is shown. The articulated tool 1800 may include a body coupling assembly 1815 and a fastening tool 1820. The body coupling assembly 1815 may be connected to a handpiece coupling assembly 1840, such as by a quick release mechanism 1830. The handpiece coupling assembly 1840 may be rigidly and / or firmly connected to the handpiece 1825. In some embodiments, the handpiece coupling assembly 1840 may be removably connected to the handpiece 1825 by a quick release mechanism (not shown) or any other fastening mechanism described herein. These features will be described in more detail below. The articulated tool 1800 may include any of the features of the articulated tool 100, and vice versa.

[0112] The articulated tool 1800 may include one or more control devices (e.g., control wheels 1805, 1835, 1910) to articulate the turntable drive head adapter 1810 and / or the drive head 2405. The one or more control wheels 1805, 1835, 1910 may be digital and / or analog and may have the same or different sizes. For example, in some embodiments, the diameter of the first control wheel 1835 may be 25 mm, the diameter of the second control wheel 1805 may be 20 mm, and the diameter of the third control wheel 1910 may be 15 mm. The diameter of the wheels may vary to accommodate different needs and user preferences. For example, one or more of the wheels 1805, 1835, 1910 may have a diameter of 1 mm, 5 mm, 10 mm, 15 mm, 40 mm, a diameter greater than 40 mm, or any diameter therebetween. In some embodiments, the one or more control wheels 1805, 1835, 1910 may be coaxially positioned along the z-axis. For example, first control wheel 1835 may be located in the middle of body coupling assembly 1815, second control wheel 1805 may be located more toward the front (e.g., distal end) of body coupling assembly 1815, and third control wheel 1910 may be located on the distal end of body coupling assembly 1815. In some embodiments, one or more control wheels 1805, 1835, 1910 may be located on hand piece 1825 or articulated tool 1800. In some cases, one or more control wheels 1805, 1835, 1910 may be located on two or more different axes (e.g., a first z-axis and a second z-axis offset from the first z-axis).

[0113] For example, as discussed in more detail below, the control wheels 1805, 1835, 1910 can be configured to rotate the turret drive head adapter 1810 along multiple axes and / or provide multiple degrees of freedom (e.g., three or more axes and / or degrees of freedom). In some embodiments, the first control wheel 1835 controls the rotation of the drive head 2405, the second control wheel 1805 controls the rotation of the turret drive head adapter 1810 about the y-axis, and the third control wheel 1910 controls the rotation of the articulated tool 1800 about the z-axis. In some embodiments, the longitudinal axis of the drive head 116 (e.g., in all positions of the drive head) does not intersect the longitudinal axis of the articulated tool 1800. For example, in certain variations, the longitudinal axis of the drive head 116 can be swung to define a plane that does not intersect the longitudinal axis of the articulated tool 1800.

[0114] Fig.19 A top view of the body coupling assembly 1815 is shown. Fig. 20 A perspective view of the body coupling assembly 1815 separated from the handpiece coupling assembly 1840 and the handpiece 1825 is shown. Fig.21A rear perspective view of body coupling assembly 1815 is shown separated from handpiece coupling assembly 1840 and handpiece 1825. As shown, in some embodiments, body coupling assembly 1815 is removably connected to handpiece coupling assembly 1840 (handpiece coupling assembly 1840 may be connected to handpiece 1825) via quick release mechanism 1830.

[0115] In some embodiments, the quick release mechanism 1830 can be operated by one or more buttons 1900 (e.g., two buttons). For example, the one or more buttons 1900 can unlock and allow the user to remove the body coupling assembly 1815. As shown, in some embodiments, the body coupling assembly 1815 is disconnected by sliding the body coupling assembly 1815 out of the one or more guide pins 2000 of the handpiece coupling assembly 1840 or the handpiece 1825.

[0116] In certain embodiments, the body coupling assembly 1815 can use any of the coupling methods described in any of the embodiments described herein. In some embodiments, the button 1900 is located on the opposite side of the body coupling assembly 1815 and / or is pressed toward the longitudinal axis of the body coupling assembly 1815. In some variations, the quick release mechanism 1830 includes one or more pawls, latches, bayonet connections, friction fits, or other connection mechanisms. For example, in some embodiments, the body coupling assembly 1815 can have a spring-loaded connection that automatically pushes the pin into the recess 2100 when the post of the handpiece coupling assembly 1840 is pushed into the mating hole 2105 of the body coupling assembly 1815. In some embodiments, when one or more buttons 1900 are pressed, the pin is pushed out of the recess 2100. One or more buttons 1900 can be spring-loaded so that they automatically return to a locked / unpressed position. Spring 2225 (see Fig. 22 ) can be located between the one or more buttons 1900. In some embodiments, the one or more buttons 1900 have one or more guide pins 2215 and corresponding slots 2220. The one or more guide pins 2215 facilitate linear movement and ensure that the button 1900 efficiently locks and unlocks the connection between the body coupling assembly 1815 and the handpiece coupling assembly 1840. Advantageously, the quick release mechanism 1830 facilitates a secure removable connection between the body coupling assembly 1815 and the handpiece coupling assembly 1840.

[0117] Fig. 22 A top partial cross-sectional view of the body coupling assembly 1815 attached to the handpiece 1825 is shown. More specifically, Fig. 22A cross section of the main housing of the body coupling assembly 1815 is shown with the housing of the control wheel 1805 removed. In some embodiments, the fastening tool 1820 and / or the turntable drive head adapter 1810 can be turned, articulated, moved, rotated, and / or repositioned relative to the handpiece 1825 and / or the body coupling assembly 1815. For example, the elongated housing 1905 of the fastening tool 1820 can be rotated about the z-axis (e.g., the longitudinal axis of the fastening tool 1820). Thus, the user can rotate the elongated housing 1905 without rotating the body coupling assembly 1815 or the handpiece 1825, or vice versa. In some embodiments, rotating the elongated housing 1905 also rotates the drive head adapter 1810 about the z-axis. The body coupling assembly 1815 may include one or more controls for rotating the elongated housing 1905. For example, the body coupling assembly 1815 may include a control wheel 1910 fixed to the elongated housing 1905. Thus, a user can rotate elongated housing 1905 by rotating control wheel 1910 .

[0118] In some embodiments, the control wheel 1910 has a locking clutch 2200. The locking clutch 2200 can lock the rotation of the elongated housing 1905 relative to the body coupling assembly 1815. As shown, the locking clutch 2200 can include an interface (e.g., interlocking) mating teeth that engage with one or more locking pins 2210 (e.g., two locking pins) when locked. The locking clutch 2200 can be spring-loaded or biased by a biasing member. In some embodiments, the user can disengage the locking clutch 2200 by sliding the locking clutch 2200 (e.g., along the z-axis) to an unfastened position (e.g., the spring of the locking clutch 2200 is compressed and / or the mating teeth are disengaged, such as Fig. 22 1815). The spring for the locking clutch 2200 can be located in a recess of the body coupling assembly 1815 and coaxial with the elongated housing 1905. In some embodiments, when the locking clutch is in the disengaged position, the user can rotate the control wheel 1910 to rotate the elongated housing 1905. In some embodiments, the locking clutch 2200 can be locked in a predetermined position. For example, the locking clutch 2200 can have a locking position every 1°, 5°, 10°, 30°, 90°, or more than 90°, or any number therebetween. In some embodiments, the locking clutch 2200 can be locked in any position.

[0119] Fig.23A side cross-sectional view of the body coupling assembly 1815 is shown. In some embodiments, the turntable drive head adapter 1810 can rotate about the y-axis. The body coupling assembly 1815 can have a directional control mechanism, such as a control wheel 1805, a lever, an arm, or an electronic mechanism. In some embodiments, the directional control mechanism is configured to rotate the turntable drive head adapter 1810 about the y-axis. For example, the control wheel 1805 can be connected to the internal shaft 2300 (also referred to as the first internal shaft) that rotates one or more gears of the gear assembly 2500 (see Fig.25 ). In some embodiments, the gear assembly 2500 can be configured to rotate the turntable drive head adapter 1810. The gear assembly 2500 will be discussed in more detail below. In some embodiments, the inner shaft 2300 is located between the elongated housing 1905 and the second inner shaft 2305, which will be discussed in more detail below. The elongated housing 1905, the inner shaft 2300, and the second inner shaft 2305 can be concentric shafts. In some embodiments, the fastening tool 1820 has multiple lumens within the elongated housing 1905. Therefore, the inner shaft 2300 and the second inner shaft 2305 may not be concentric.

[0120] In some embodiments, the control wheel 1805 for the turntable drive head adapter 1810 can have a locking clutch 2205 (see Fig. 22 ). As shown, the locking clutch 2205 may include interfacing (eg, interlocking) mating teeth with the elongated housing 1905. The locking clutch 2205 may lock the rotation of the turntable drive head adapter 1810 relative to the protective bottom housing 2400 (see Fig.24). The locking clutch 2205 can be spring loaded or biased by a biasing member. The spring for the locking clutch 2205 can be located in a circular recess of the body coupling assembly 1815 and coaxial with the internal shaft 2300. In some embodiments, the user can disengage the locking clutch 2205 by sliding the locking clutch 2200 (e.g., along the z-axis) to the disengaged position (e.g., the spring of the locking clutch 2205 is compressed and / or the mating teeth are disengaged). In some embodiments, when the locking clutch is in the disengaged position, the user can rotate the control wheel 1805 to rotate the internal shaft 2300. The control wheel 1805 can be connected to a corresponding groove on the internal shaft 2300 using one or more pins 2230. In some embodiments, the locking clutch 2205 can be locked in a predetermined position. For example, the locking clutch 2205 can have a locking position every 1°, 5°, 10°, 30°, 90°, or more than 90°, or any number therebetween. In some embodiments, the locking clutch 2205 can be locked in any position. In some embodiments, the body coupling assembly 1815 can have one or more bearings 2310 to reduce or remove friction between two or more components (eg, a rotating shaft and a non-rotating body).

[0121] The body coupling assembly 1815 can have a control device to manually operate the driver head 2405. The control device can be a control wheel 1835 that transmits torque received from the user to the driver head (e.g., a tool head). The rotation and / or torque of the wheel 1835 can be transmitted to the driver head via the internal shaft 2305. In some embodiments, the articulated tool 1800 uses a gear system (not shown) to amplify or reduce the torque received at the control wheel 1835 before transmitting the torque received from the user to the driver head 2405. In some embodiments, the torque received at the control wheel 1835 is transmitted directly to the driver head 2405. For example, the control wheel 1835 can be connected to the internal shaft 2305 so that the gear assembly 2505 (see Fig.25 ) rotates one or more gears. In some embodiments, the gear assembly 2505 can be configured to rotate the driver head 2405. The gear assembly 2505 will be discussed in more detail below.

[0122] Fig.24A close-up view of the turntable drive head adapter 1810 is shown. In some embodiments, the turntable drive head adapter 1810 is offset from the z-axis (e.g., the longitudinal axis of the fastening tool 1820) and / or rotates about the y-axis (e.g., the lateral axis). In some embodiments, the turntable drive head adapter 1810 can rotate from 0° to 360° about the y-axis. In some embodiments, the turntable drive head adapter 1810 can rotate freely about the y-axis (e.g., can make multiple complete rotations). In various embodiments, the turntable drive head adapter 1810 includes a driver head 2405. The driver head 2405 can be offset (e.g., spaced apart) from the longitudinal axis of the tool 1800 and / or the elongated housing 1905. For example, the longitudinal axis of the driver head 2405 and the longitudinal axis of the tool 100 can be non-coplanar in the zx plane.

[0123] Fig.25 and Fig.26 A close-up view of certain internal components of the rotary drive head adapter 1810 and the elongated housing 1905 is shown. As shown, the distal end of the elongated housing 1905 can have threads 2550 that can secure the cap 2400 (see Fig.24 ). As also shown, the internal components of the turntable drive head adapter 1810 can include multiple articulated components, such as an articulated torque transfer unit 2510 and / or an articulated mechanism 2515. The articulated torque transfer unit 2510 and the articulated mechanism 2515 can be separate and / or independently operable (e.g., one can be operated without the other being operated). As discussed in more detail below, in some embodiments, the unit 2510 can control the drive head 2405, and the mechanism 2515 can control the rotational position of the drive head adapter 1810.

[0124] In some embodiments, the articulated torque transfer unit 2510 includes a gear assembly 2505 that transfers torque from the second internal shaft 2305 to a driver head 2405 (e.g., a tool head, drill, or other medical tool). In various embodiments, the proximal end of the second internal shaft 2305 can be coupled to a motor of the fastening system 1850. Torque can be transferred through the shaft 2305 to the gear assembly 2505 to the driver head 2405. In various embodiments, the articulated torque transfer unit 2510 maintains the direction of the motor. For example, the turntable driver head adapter 1810 can rotate the driver head 2405 in the same direction as the motor rotates the second internal shaft 2305.

[0125] The gear assembly 2505 of the articulated torque transfer unit 2510 may include a plurality of gears, such as a first bevel gear 2520, a second bevel gear 2525, and a third bevel gear 2600. In some embodiments, the first bevel gear 2520 is fixedly coupled to the second internal shaft 2305, the second bevel gear 2525 is fixedly coupled to the gear support shaft 2605, and the third bevel gear 2600 is fixedly coupled to the output shaft 2610. The output shaft may be fixed to the driver head 2405 (e.g., a tool head). In some embodiments, the shaft 2605 may be a shoulder screw to retain one or more components of the turret head adapter 1810. The gear support shaft 2605 may have a slot on the distal end (e.g., the end farthest from the corresponding gear) that may be used to tighten the shoulder screw into place during the assembly process of the articulated tool 1800. In some embodiments, the turret driver head adapter 1810 has one or more clevis pins with a cross pin (not shown) to eliminate the risk of one or more screws becoming loose. Thus, the articulated tool 1800 may be manufactured to remain securely assembled during operation.

[0126] In some embodiments, the first bevel gear 2520 can interact with (eg, mesh with) the second bevel gear 2525. The second bevel gear 2525 can interact with (eg, mesh with) the third bevel gear 2600. Fig.26 As shown, the second bevel gear 2525 may include a double bevel gear having bevel gears on both sides.Any type of gear (eg, spur gears, helical gears, worm gears, internal gears, etc.) may be used for any gear assembly described herein.

[0127] In some embodiments, the articulated mechanism 2515 surrounds and / or is nested with the articulated torque transfer unit 2510. For example, as described above, the inner shaft 2305 of the articulated torque transfer unit 2510 can be located within the lumen of the inner shaft 2300 of the articulated mechanism 2515. In certain embodiments, the second bevel gear 2525 and the third bevel gear 2600 of the articulated torque transfer unit 2510 can be located within the front cap 2540 of the turntable drive head adapter 1810. The nesting of the articulated torque transfer unit 2510 and the articulated mechanism 2515 allows the articulated tool 1800 to be smaller while maintaining a high degree of movement and torque transfer.

[0128] In some embodiments, the articulated mechanism 2515 is an orientation mechanism configured to position the driver head adapter 1810 in different orientations. The articulated mechanism 2515 can be a gear assembly 2500. The gear assembly 2500 can include a first bevel gear 2530 and a second bevel gear 2535. The first bevel gear 2530 can be fixedly coupled to the inner shaft 2300, and the second bevel gear 2535 can be fixedly coupled to the front cap 2540 of the turntable driver head adapter 1810. The first bevel gear 2530 can interact with (e.g., mesh with) the second bevel gear 2535. As shown in the figure, in some embodiments, the first bevel gear 2530 of the mechanism 2515 has a larger outer diameter than the first bevel gear 2520 of the unit 2510, and / or the second bevel gear 2535 of the mechanism 2515 has a larger outer diameter than the second bevel gear 2525 of the unit 2510. As also shown, the first bevel gears 2520, 2530 can be coaxial, and / or the second bevel gears 2525, 2535 can be coaxial. In some embodiments, the first bevel gears 2520, 2530 and the second bevel gears 2525, 2535 are configured to rotate about a generally vertical axis.

[0129] As described above, the articulated mechanism 2515 can be configured to rotate the turntable drive head adapter 1810 about the y-axis of the fastening tool 1820 when the corresponding internal shaft 2300 is rotated. In some embodiments, the second bevel gear 2535 has a mechanical stop 2545 that limits the rotation of the turntable drive head adapter 1810. In some embodiments, the second bevel gear 2535 has no mechanical stop and / or can rotate 360° about the y-axis.

[0130] In some embodiments, the position of the turntable drive head adapter 1810 can be adjusted by one or more operator controls 110. For example, a user can press one or more operator controls 110 (see Fig. 20 ) to rotate the fastening tool 1820 about the z-axis. In some embodiments, one or more operator controls 110 can be used to rotate the turntable drive head adapter 1810 about the y-axis.

[0131] Fig. 27 A side view of the turntable drive head adapter 1810 is shown. In some embodiments, the turntable drive head adapter 1810 includes a rear cap 2700. The rear cap 2700 protects the articulated torque transfer unit 2510 and the articulated mechanism 2515 from impact and from debris and dust.

[0132] In some embodiments, the rear cap 2700 can be a sliding lock for the driver head 2405. For example, the user can slide the rear cap 2700 along the y-axis to an unlocked position (e.g., Fig. 27 In some embodiments, the user can slide the rear cap 2700 to the locked position (e.g., Fig.24 2615 of the driver head 2405. In some embodiments, lowering the rear cap 2700 slides the tab into the groove 2615 of the driver head 2405. In some embodiments, the rear cap 2700 can use any of the coupling mechanisms described herein (e.g., friction fit, magnets, etc.). Thus, the rear cap 2700 allows the driver head 2405 to be easily removed from the turntable driver head adapter 1810. The quick removal of the driver head 2405 allows the user to easily replace the driver head 2405 (e.g., from a screwdriver bit to a hex key) or replace a damaged driver head 2405.

[0133] Fig.28 A front cross-sectional view of an embodiment of a fastening system 1850 is shown. Fig.29 A close-up cross-sectional view of an embodiment of an articulated tool 1800 is shown. In some embodiments, as described above, the fastening tool 1820 has three concentric axes. For example, the fastening tool 1820 can include a first outer axis (e.g., elongated housing 1905), a second axis (e.g., inner axis 2300) fixedly attached to the articulated mechanism 2515, and a third axis (e.g., second inner axis 2305) fixedly attached to the articulated torque transfer unit 2510. The concentric axes reduce the size of the fastening tool 1820 while allowing the user to effectively control and operate the rotary drive head adapter 1810.

[0134] Figure 30 to Figure 32 The circular front plate 3000 of the front cap 2540 of the turntable drive head adapter 1810 is shown. In some embodiments, the circular front plate 3000 is coupled to the front cap 2540 of the turntable drive head adapter 1810 via a top lip 3005 and a bottom lip 3010 of the circular front plate 3000. For example, the top lip 3005 can be inserted into a top recess of the front cap 2540. In some embodiments, the bottom lip 3010 can be inserted into a bottom recess formed in part by the front cap 2540 and in part by the protective bottom housing 2400 of the turntable drive head adapter 1810. Fig.32 As shown, the protective bottom housing 2400 allows the bottom lip 3010 to slide along the recess when the turntable drive head adapter 1810 rotates about the y-axis. The integrated circular front plate 3000 can stabilize the drive head 2405 while allowing the turntable drive head adapter 1810 to rotate smoothly.

[0135] Articulated tool with rotary drive head adapter ( Figures 33 to 40 )

[0136] Fig.33A perspective view of an embodiment of a portion of a fastening tool 3300 including a turret drive head adapter 3305 is shown. The tool 3300 may include any of the features of either of the tools 100, 1800, and vice versa. For example, the tool 3300 may include a handpiece, a handpiece coupling assembly, a body coupling assembly, and a fastening tool (as discussed and shown above). For purposes of illustration, the following description and associated drawings focus on a portion of the tool 3300, namely the distal end of the tool 3300 including the turret drive head adapter 3305.

[0137] The fastening tool 3300 can include an elongated outer shaft 3320, a turntable drive head adapter 3305, a rear cap 3310, and a drive head 3315. The fastening tool 3300 can be part of a fastening system that includes one or more control devices to articulate the turntable drive head adapter 3305 and / or the drive head 3315. For example, the fastening tool 3300 can be incorporated into any of the fastening systems described above. In some embodiments, the turntable drive head adapter 3305 is configured to rotate about the y-axis. The fastening tool 3300 can be configured to rotate about the z-axis relative to the handpiece of the fastening system.

[0138] Fig.34A and Fig.34B 33. The front and rear views of the turntable drive head adapter 3305 are shown, respectively. In some embodiments, the turntable drive head adapter 3305 includes a rear cap 3310. The rear cap 3310 protects the internal components of the fastening tool 3300 from impact, moisture, debris, and dust. In some embodiments, the rear cap 3310 can be a sliding lock for the turntable drive head adapter 3305. For example, a user can slide the rear cap 3310 along the y-axis to an unlocked position (e.g., Fig.34B In some embodiments, the user can slide the rear cap 3310 to the locked position (e.g., Fig.34A In some embodiments, lowering the rear cap 3310 slides the tab 4000 into the groove of the driver head 3315 (see Fig.26 2615) to lock the driver head 3315 in place. In some embodiments, the rear cap 3310 can use any of the coupling mechanisms described herein (e.g., friction fit, magnets, etc.). In some embodiments, the rear cap 3310 is spring loaded and automatically returns to the locked position.

[0139] In some embodiments, the turntable drive head adapter 3305 has a stabilizer 3400 that is configured to securely receive the end of the drive head 3315. As shown, in some embodiments, the drive head 3315 passes through the stabilizer 3400 and / or is generally flush with the back of the stabilizer 3400. In some implementations, the stabilizer 3400 can help position the drive head 3315 inside the drive head adapter 3305 and / or can reduce unwanted movement of the drive head 3315.

[0140] Fig.35 and Fig.36 A front view and a rear view, respectively, of a fastening tool 3300 including a rotary table drive head adapter 3305 are shown. Fig.37A and Fig.37B A top view and a bottom view of the fastening tool 3300 are shown, respectively. Similar to the previously discussed articulated tool 1800, the fastening tool 3300 can have three different axes. For example, the fastening tool 3300 can have an elongated outer shaft 3320 that can be used to rotate the fastening tool 3300 about the z-axis, an inner shaft 3600 that can be used to rotate the turntable drive head adapter 3305 about the y-axis, and a second inner shaft 3605 that can be used to transfer torque from the motor to the drive head 3315.

[0141] Fig.38 A perspective view of the internal components of the turntable drive head adapter 3305 is shown, with certain cover components not shown for illustration purposes. The internal components may include an articulated torque transfer unit 3800 and a separate articulated mechanism 3805. The unit 3800 and the mechanism 3805 may be separate and / or independently operable (e.g., one may be operated without the other being operated).

[0142] In some embodiments, the articulated torque transfer unit 3800 includes a gear assembly that transfers torque from the second internal shaft 3605 to a driver head 3315 (e.g., a tool head, drill, or other medical tool). In some embodiments, the second internal shaft 3605 can be coupled to a motor of a fastening system. The gear assembly of the articulated torque transfer unit 3800 can include a first bevel gear 3810, a second bevel gear 3815, and a third bevel gear 3820. The bevel gears can have different pitch angles, gear ratios, or tooth depths to accommodate needs and user preferences. For example, one or more of the gears may have a pitch angle of 0°, 5°, 10°, 20°, 50°, 70°, 90°, greater than 90°, or any angle therebetween. In some embodiments, one or more gears may have a tooth depth of 1 mm, 2 mm, 5 mm, 10 mm, greater than 10 mm, or any length therebetween. In some embodiments, the first bevel gear 3810 is fixedly coupled to the second internal shaft 3605, the second bevel gear 3815 is fixedly coupled to the gear support shaft 3845, and the third bevel gear 3820 is removably coupled to the driver head 3315. The first bevel gear 3810 can be intermeshed with the second bevel gear 3815, and the second bevel gear 3815 can be intermeshed with the third bevel gear 3820. Various gear ratios can be achieved between any of the gears described herein. For example, the ratio between the first bevel gear 3810 and the second bevel gear 3815 can be 1:1, 2:1, 3:1, 4:1, 1:2, 1:3, 1:4, or any other ratio.

[0143] In some embodiments, the articulated mechanism 3805 surrounds the articulated torque transfer unit 3800. For example, as described above, the second inner shaft 3605 of the articulated torque transfer unit 3800 can be located within the inner cavity of the inner shaft 3600 of the articulated mechanism 3805. In some embodiments, the second bevel gear 3815 and the third bevel gear 3820 of the articulated torque transfer unit 3800 can be located within the front cap 3855 of the turntable drive head adapter 3305.

[0144] In some embodiments, the articulated mechanism 3805 can be a gear assembly. The gear assembly can include a first bevel gear 3825 and a second bevel gear 3830. The first bevel gear 3825 can be fixedly coupled to the internal shaft 3600, and the second bevel gear 3830 can be fixedly coupled to the front cap 3855 of the turntable driver head adapter 3305. The first bevel gear 3825 can mesh with the second bevel gear 3830. As described above, the articulated mechanism 3805 can be configured to rotate the turntable driver head adapter 3305 around the y-axis of the fastening tool 3300 when the corresponding internal shaft 3600 is rotated. In some embodiments, the second bevel gear 3830 can rotate 360 ​​degrees around the y-axis. In some embodiments, the turntable driver head adapter 3305 can rotate multiple times around the y-axis.

[0145] Similar to the previously described embodiments, the position of the turntable drive head adapter 3305 can be adjusted by one or more operator controls or control wheels. For example, a user can press one or more operator controls to rotate the fastening tool 3300 about the z-axis. In some embodiments, one or more operator controls or control wheels can be used to rotate the turntable drive head adapter 3305 about the y-axis.

[0146] In some embodiments, the fastening tool 3300 includes one or more washers 3835, 3840. The one or more washers 3835, 3840 can be made of a low friction material such as a polymer. The one or more washers 3835, 3840 can reduce the area of ​​metal-on-metal contact and / or can improve the durability and reliability of the fastening tool 3300. The one or more washers 3835, 3840 can reduce vibration and protect internal components from moisture, dust, and debris.

[0147] Fig.39 and Fig.40 The front view and rear view of an embodiment of the internal components of the turntable drive head adapter 3305 are shown respectively. In some embodiments, long gears are used in the articulated torque transfer unit 3800 and / or the articulated mechanism 3805. For example, the second bevel gear 3815 of the articulated mechanism 3805 can be a high-capacity gear with larger teeth (e.g., increased tooth thickness and tooth depth), enhanced material strength (e.g., improved heat treatment), and precision manufacturing. High-capacity gears can handle heavy loads and transmit significant torque while reducing wear and noise. For example, compared with traditional gears, the second bevel gear 3815 can have a larger diameter, an increased contact ratio, and / or wider teeth. Therefore, high-capacity gears can transmit greater torque without breaking. It should be noted that any gear in the gears disclosed herein can be a high-capacity gear.

[0148] In some embodiments, the second bevel gear 3815 can be a double-sided bevel gear. Advantageously, the double-sided gear 3815 can have higher strength than two separate bevel gears connected by an axis. For example, the double-sided gear 3815 can have more material at the root of the gear teeth to resist bending. In some embodiments, since wear can increase the friction between the various components of the articulated torque transfer unit 3800, a larger torque may be required. In order to increase the service life of the fastening tool 3300, the second bevel gear 3815 can have larger teeth on the input end to safely receive and transmit a large amount of torque. Therefore, the second bevel gear 3815 can reduce the possibility of gears 3810 and 3815 experiencing bonding problems.

[0149] In some embodiments, the double-sided gear 3815 can be easier to manufacture than other gears (e.g., two separate but connected bevel gears). For example, the manufacture of the second bevel gear 3815 may not require timing or indexing of the two opposite sides because they are integral. In some embodiments, the second bevel gear 3815 can have a smaller inner diameter than other gears due to its integral structure, which can reduce friction between the gear 3815 and the gear support shaft 3845.

[0150] For example, in some embodiments, the teeth on the proximal end of the second bevel gear 3815 (e.g., the teeth that mesh with the first bevel gear 3810) can have a different number of teeth, pitch angle, thickness, and / or contact ratio than the teeth on the distal end of the second bevel gear 3815 (e.g., the teeth that mesh with the third bevel gear 3820). Therefore, the double-sided bevel gear can provide different mechanical advantages for each side of the teeth while reducing the overall weight of the gear (e.g., compared to two bevel gears connected by a shaft). Any of the gears disclosed herein can be a double-sided bevel gear.

[0151] Fig.41An embodiment of a fastening system 4150 including a handpiece 4105 is shown. The handpiece 4105 may include a handle, which may be cylindrical or other shapes. In some embodiments, a user may rotate all or part of the handpiece 4105 around the longitudinal axis of the articulated tool 4100 to rotate the driver head 116. For example, in some embodiments, a user may rotate the handpiece 4105 while keeping the body coupling assembly 102 stationary to rotate the driver head 116. In some embodiments, the handpiece 4105 and the body coupling assembly 102 may be coupled by bearings, sliders, or bushings that allow independent rotational motion between the components. The handpiece 4105 may take a variety of different shapes and sizes. In some embodiments, the handpiece 4105 is cylindrical and / or tapered at both ends. In some cases, the handpiece 106 does not have a fin 112 or a compartment for a battery and a motor. The handpiece 4105 may be used with any embodiment of the articulated tool described herein.

[0152] Certain terms

[0153] Conditional language used herein (such as "may," "might," "perhaps," "might," "for example," etc.), unless expressly stated otherwise or otherwise understood within the context of use, is generally intended to convey that certain embodiments include certain features, elements, and / or steps, while other embodiments do not. Thus, such conditional language is generally not intended to imply that features, elements, and / or steps are in any way required for one or more embodiments, or that one or more embodiments necessarily include logic (with or without author input or prompting) for deciding whether such features, elements, and / or steps are included or performed in any particular embodiment.

[0154] Unless expressly stated otherwise, transitional language (such as the phrase "at least one of X, Y, and Z") is understood to be generally used to convey that an item, term, etc. can be X, Y, or Z, depending on the context in which it is used. Thus, such transitional language is generally not intended to imply that certain embodiments require that at least one of X, at least one of Y, and at least one of Z each be present.

[0155] The terms "include," "comprising," "having," and the like are synonymous and are used in an inclusive, open-ended manner and do not exclude additional elements, features, actions, operations, and the like. In addition, the term "or" is used in its inclusive sense (not its exclusive sense), so, for example, when used to connect a list of elements, the term "or" means one, some, or all of the elements in the list. The term "and / or" means that "and" applies to some embodiments and "or" applies to some embodiments. Thus, A, B, and / or C is equivalent to writing A, B, and C in one sentence and A, B, or C in another sentence. The term "and / or" is used to avoid unnecessary redundancy.

[0156] As used herein, the terms "approximately," "about," and "substantially" refer to an amount that is close to a stated amount but still performs a desired function or achieves a desired result. For example, in some embodiments, as the context may indicate, the terms "approximately," "about," and "substantially" may refer to an amount that is less than or equal to within 10% of a stated amount. As used herein, the term "substantially" refers to a value, amount, or characteristic that primarily includes or tends toward a particular value, amount, or characteristic. For example, in certain embodiments, as the context may indicate, the term "substantially parallel" may refer to a deviation from perfectly parallel that is less than or equal to 20 degrees, while the term "substantially perpendicular" may refer to a deviation from perfectly perpendicular that is less than or equal to 20 degrees.

[0157] summary

[0158] The present disclosure introduces certain embodiments, examples and variations of articulated tools, systems and methods. These articulated tools, systems and methods allow users to easily reach (e.g., position fasteners in) a wide range of positions and configurations during medical procedures, such as by using multiple control devices and axes to change the orientation of articulated tools. The present disclosure extends beyond the specifically disclosed embodiments, examples and variations to other alternative embodiments and / or uses of the present invention, as well as its obvious modifications and equivalents. In addition, although various variations have been shown and described in detail, based on the present disclosure, it will be easy for those skilled in the art to understand other modifications within the scope of the present disclosure. In addition, although certain examples have been discussed in the context of accessories for surgical tools, the various inventions disclosed herein are not limited to use in surgical tools. In fact, the various inventions disclosed herein are contemplated for use in a variety of other types of medical devices and other medical environments. Any of the tools, systems or methods described herein may include any features disclosed in U.S. Patent No. 11,259,855, the entire contents of which are incorporated herein by reference.

[0159] Some embodiments have been described in conjunction with the accompanying drawings. The drawings are drawn to scale, but such scale should not be limiting, as other dimensions and ratios than those shown are also contemplated and within the scope of the present disclosure. Distances, angles, etc. are merely illustrative and do not necessarily have an exact relationship to the actual size and layout of the device shown. Components may be added, removed, and / or rearranged. In addition, the disclosure of any particular features, aspects, methods, properties, characteristics, qualities, attributes, elements, etc. associated with various embodiments herein may be used in all other embodiments set forth herein. In addition, it will be appreciated that any method described herein may be practiced using any device suitable for performing the steps.

[0160] Certain features have been described in the context of separate embodiments and may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented in multiple embodiments individually or in any suitable subcombination. In addition, although features may be described above as functioning in certain combinations, in some cases one or more features from a claimed combination may be deleted from the combination and the combination may be claimed as any subcombination or variation of any subcombination.

[0161] Any part of any of the steps, processes, structures, and / or devices disclosed or shown in one embodiment, flowchart, or example of the present disclosure may be combined or used together with (or replace) any other part of any of the steps, processes, structures, and / or devices disclosed or shown in a different embodiment, flowchart, or example. The embodiments and examples described herein are not intended to be discrete and separate from each other. Combinations, variations, and other implementations of the disclosed features are within the scope of the present disclosure.

[0162] Any of the components or steps can be adjusted or modified. Other or additional steps can be used. Any element or step described herein is not essential or indispensable. In addition, although the operations may be depicted in the drawings or described in the specification in a particular order, these operations do not need to be performed in the particular order or continuous order shown, and all operations do not need to be performed to achieve the desired result. Other operations that are not depicted or described can be incorporated into the described operations. For example, one or more additional operations can be performed before, after, simultaneously or between any operation in the described operations. In addition, in other embodiments, the operations can be rearranged or reordered. In addition, the separation of various system components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described components and systems can usually be integrated into a single product or packaged into multiple products.

[0163] The various features and processes described above can be used independently of each other, or can be used in combination in various ways. All possible combinations and sub-combinations are intended to fall within the scope of the present disclosure. The example systems and components described herein can be configured differently than described. For example, elements can be added, removed, or rearranged compared to the disclosed example embodiments.

[0164] In summary, various embodiments and examples of articulated tools, systems, and methods have been disclosed. Although the present disclosure is made in the context of these embodiments and examples, the present disclosure extends beyond the specifically disclosed embodiments to other alternative embodiments and / or other uses of the embodiments, as well as certain modifications and equivalents thereof. The present disclosure expressly contemplates that the various features and aspects of the disclosed embodiments may be combined or substituted with each other. Therefore, the scope of the present disclosure should not be limited by the specific disclosed embodiments described herein.

Claims

1. An articulated surgical tool, comprising: an elongated housing comprising a proximal end, a distal end, an inner cavity, and a longitudinal axis, the elongated housing being configured to engage a handpiece comprising a motor; A torque transmission mechanism, the torque transmission mechanism comprising: a first shaft extending through the interior cavity of the elongated housing; and an articulated torque transfer unit having a first end coupled to a distal portion of the first shaft, a first bevel gear fixedly coupled to the first shaft, a second bevel gear coupled to a gear support shaft, and a third bevel gear configured to removably engage a tool bit and rotate the tool bit about a tool bit axis; wherein the torque transfer mechanism is configured to transfer torque from the motor to the cutter head, and wherein rotating the elongated housing is configured to rotate the torque transfer mechanism about the longitudinal axis; and A directional mechanism, the directional mechanism being separated from the torque transmission mechanism, the directional mechanism comprising: a second shaft extending through the interior cavity of the elongated housing, wherein the first shaft and the second shaft are concentric; a fourth bevel gear and a fifth bevel gear, wherein the fourth bevel gear is fixedly coupled to the second shaft and the fifth bevel gear is coupled to a driver head adapter; and A controller is connected to the proximal portion of the second shaft, the controller being configured to rotate the second shaft, wherein rotation of the second shaft rotates the driver head adapter about a transverse axis, wherein the transverse axis is substantially perpendicular to the longitudinal axis.

2. An articulated surgical tool as described in claim 1, wherein the cutting head axis is not coplanar with the longitudinal axis.

3. An articulated surgical tool as described in claim 1 or claim 2, wherein the second bevel gear is a double-sided bevel gear, and wherein the second bevel gear is located between the longitudinal axis and the tool head axis.

4. An articulated surgical tool as described in any of the preceding claims, wherein the cutting head is a bone drill bit.

5. An articulating tool configured to facilitate placement of a fastener during a medical procedure, the articulating tool comprising: an elongated housing comprising a proximal end, a distal end, an inner cavity, and a longitudinal axis, the elongated housing being configured to engage a handpiece comprising a motor; A torque transmission mechanism, the torque transmission mechanism comprising: a first shaft extending through the interior cavity of the elongated housing; an articulated torque transfer unit having a first end and a second end, the first end being coupled to a distal portion of the first shaft; and a driver head adapter at the second end of the articulated torque transfer unit, the driver head adapter being configured to removably engage with and rotate a tool bit about a tool bit axis, the tool bit being configured to engage a fastener; wherein the torque transfer mechanism is configured to transfer torque from the motor to the driver head adapter and the tool bit, and wherein rotating the elongated housing is configured to rotate the torque transfer mechanism about the longitudinal axis; and A directional mechanism, the directional mechanism being separated from the torque transmission mechanism, the directional mechanism comprising: a second shaft extending through the interior cavity of the elongated housing; and a controller connected to the proximal portion of the second shaft, the controller configured to rotate the second shaft, wherein the driver head adapter is connected to the distal portion of the second shaft, and wherein rotation of the second shaft rotates the driver head adapter about a transverse axis, wherein the transverse axis is substantially perpendicular to the longitudinal axis.

6. The articulated tool of claim 5, wherein the orientation mechanism comprises a first bevel gear and a second bevel gear, wherein the first bevel gear is fixedly coupled to the second shaft and the second bevel gear is coupled to the driver head adapter.

7. An articulated tool as described in claim 5 or claim 6, wherein the driver head adapter is configured to rotate between about 0° and about 360° about the transverse axis.

8. The articulated tool of any one of claims 5 to 7, wherein the driver head adapter is configured to complete a plurality of rotations about the transverse axis.

9. An articulated tool as described in any one of claims 5 to 8, wherein the articulated torque transfer unit includes a first bevel gear, a second bevel gear and a third bevel gear, wherein the first bevel gear is fixedly connected to the first shaft, the second bevel gear is connected to the gear support shaft, and the third bevel gear is removably connected to the tool head.

10. The articulated tool of any one of claims 5 to 9, wherein the driver head adapter includes an inner cavity configured to receive the shaft of the tool bit, and wherein the driver head adapter is coupled to the shaft of the tool bit by a quick release mechanism.

11. The articulated tool of any one of claims 5 to 10, wherein the elongated housing is configured to rotate between about 0° and about 360° about the longitudinal axis relative to the controller.

12. The articulated tool of any one of claims 5 to 11, wherein the elongate housing is configured to complete a plurality of rotations about the longitudinal axis relative to the controller.

13. The articulated tool of any one of claims 5 to 12, wherein the controller comprises a wheel, rotation of the wheel causing the second shaft to rotate.

14. The articulated tool of any one of claims 5 to 13, wherein the controller includes a locking clutch that locks rotation of the second shaft.

15. The articulated tool of any one of claims 5 to 14, wherein the elongate housing is connected to a wheel, and wherein rotation of the wheel causes the elongate housing to rotate.

16. An articulating tool configured to facilitate placement of a fastener during a medical procedure, the articulating tool comprising: a multi-part elongated housing comprising an upper portion, a lower portion, a proximal end, a distal end, an inner cavity, and a longitudinal axis, the multi-part elongated housing being configured to engage with a handpiece comprising a motor; as well as A torque transmission mechanism, the torque transmission mechanism comprising: a first shaft extending through the interior cavity of the multi-part elongated housing; an articulated torque transfer unit having a first end and a second end, the first end being coupled to a distal portion of the first shaft; a driver head adapter at the second end of the articulated torque transfer unit, the driver head adapter being configured to removably engage and rotate a tool bit about a tool bit axis, the tool bit being configured to engage a fastener; and a controller configured to rotate the articulated torque transfer unit about a transverse axis, wherein the transverse axis is substantially perpendicular to the longitudinal axis, wherein the controller is configured to rotate the articulated torque transfer unit by advancing or retracting the upper portion of the multi-part elongated housing; Wherein the torque transfer mechanism is configured to transfer torque from the motor to the driver head adapter and the tool bit.

17. An articulated tool as described in claim 16, wherein the articulated torque transfer unit includes a first bevel gear, a second bevel gear, a third bevel gear, and a fourth bevel gear, wherein the first bevel gear is fixedly connected to the first shaft, the second bevel gear is connected to the first gear support shaft, the third bevel gear is connected to the second gear support shaft, and the fourth bevel gear is removably connected to the tool head.

18. The articulated tool of claim 17, wherein the second bevel gear comprises a set of second bevel gears, and the third bevel gear comprises a set of third bevel gears.

19. The articulated tool of any one of claims 16 to 18, wherein the controller is configured to rotate the articulated torque transfer unit by advancing or retracting the lower portion of the multi-part elongate housing.

20. The articulated tool according to any one of claims 16 to 19, wherein: Rotating the multi-part elongated housing is configured to rotate the torque transmitting mechanism about the longitudinal axis.

21. An articulated surgical screwdriver adapter, comprising: a proximal end having a body configured to be removably coupled to the rotary driver and the drive output; a distal end having a driver head adapter configured to articulate and rotate relative to the body, the driver head adapter configured to removably receive a driver head engageable with a surgical fastener; an orientation control unit configured to control articulation of the driver head adapter; as well as A torque transfer unit is configured to removably connect to the drive output and transmit torque from the drive output to the driver head adapter so that the driver head rotates the surgical fastener.

22. An assembly comprising the articulating surgical screwdriver adapter of claim 21, a surgical driver, and a driver head.

23. An articulated surgical screwdriver adapter as claimed in claim 21 or claim 22, wherein the orientation control unit includes an arm and is configured to convert lateral movement of the arm into rotational movement of the driver head adapter.

24. The articulated surgical screwdriver adapter of any one of claims 21 to 23, wherein the orientation control unit includes an arm and is configured to convert rotational movement of the arm into rotational movement of the driver head adapter.

25. An articulated surgical screwdriver adapter as described in any one of claims 21 to 24, wherein the driver head adapter includes a first gear and a second gear, and wherein the first gear and the second gear rotate about respective axes that are substantially parallel to each other and substantially perpendicular to the longitudinal axis of the articulated surgical screwdriver adapter.

26. The articulating surgical screwdriver adapter of any one of Claims 21 to 25, wherein the orientation control unit comprises a spring biased clutch.

27. An articulated surgical screwdriver adapter, comprising: a proximal end configured to be removably coupled to a surgical driver having a motor and a drive output; as well as a distal end configured to be removably connected to the proximal end, the distal end comprising: a driver head adapter configured to articulate and rotate relative to the proximal end, the driver head adapter configured to removably receive a driver head engageable with a surgical fastener; an orientation control unit configured to control articulation of the driver head adapter; and A torque transfer unit is configured to removably connect to the drive output and transmit torque from the drive output to the driver head adapter so that the driver head rotates the surgical fastener.

28. The articulating surgical screwdriver adapter of claim 27, wherein the distal end further comprises a quick release mechanism.

29. The articulating surgical screwdriver adapter of claim 28, wherein the quick release mechanism comprises first and second opposed spring biased buttons.

30. An articulated surgical screwdriver adapter as described in Claim 28 or Claim 29, wherein the proximal end includes a first guide pin and a second guide pin, and the first guide pin and the second guide pin are configured to removably engage with the quick release mechanism.

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