Saw blade bracket of surgical sagittal saw

Abstract

A surgical blade carrier includes a guide bar formed of three plates. The bracket has a saw blade extending distally from a guide bar, the saw blade including a saw blade head, the saw blade head including a plurality of teeth. The guide bar may be configured to have opposing edges that define mounting features for inverting the guide bar within a mount of a surgical saw. One of the plates may be configured to define a reference feature configured to register and / or verify a pose of the carriage with a navigation system. A method of registering the cradle within a known coordinate system is disclosed. The method may include determining a deviation between an expected position of the carriage and an actual position of the carriage based on a reference feature, and defining a mixed position of the carriage within a known coordinate system based on the deviation.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and all benefits of U.S. Provisional Patent Application No. 63 / 354,477, filed on June 22, 2022, the entire contents of which are expressly incorporated herein by reference. Background Art

[0003] A sagittal saw blade is a surgical saw whose head pivots about an axis perpendicular to the saw blade. PCT Publication No. WO2006 / 017066A2 / U.S. Patent No. 7,497,860 and PCT Publication No. WO2016 / 182981A2 / U.S. Patent No. 10,687,823 (both of which are incorporated herein by reference) disclose a sagittal saw blade cartridge. A sagittal saw blade cartridge includes a static guide rod and a saw blade head. The guide rod is an elongated member that is releasably attached to a handpiece, which is a saw that actuates the carriage. The saw blade head is pivotally mounted on the guide rod and has teeth extending forward from the guide rod. One or more drive links extend from the saw blade head toward the proximal end of the guide rod. The drive link reciprocates back and forth through a drive assembly located inside the saw. The reciprocating motion of the drive link causes the saw blade head to pivot forward and backward. The pivoting of the saw blade head enables the teeth to cut the tissue against which the saw blade head is pressed. Sometimes, this type of bracket is referred to as an oscillating tip saw blade bracket.

[0004] One advantage of a sagittal saw blade bracket is that the only pivoting portion of the bracket is the distally positioned saw blade head. In contrast, a conventional sagittal saw blade pivots from its attachment point to the saw to which the blade is attached. When actuated, the bracket vibrates less in the hand and / or robotic arm of the surgeon holding the handpiece. In addition, it is common practice to use a cutting guide to properly position the sagittal saw blade relative to the tissue to be cut by the blade. When a conventional saw blade is actuated, the rocking motion (swing) of the saw blade causes severe wear to the surface of the cutting guide, which defines the incision in which the saw blade is positioned. The guide rod of the surgical sagittal saw blade bracket moves only slightly in the incision. Therefore, by using the bracket instead of a conventional saw blade, a small amount of material forming the cutting guide is wiped off the guide.

[0005] When a conventional sagittal saw blade or sagittal saw blade carriage is advanced through bone, the saw blade head is subject to resistance and / or exposed to curved, inclined or shaped surfaces. This resistance may be perceptible when the incision depth is 5 cm or greater. Typically, bones located near the underside of the carriage are more difficult to cut than bones located just above the carriage. Similarly, the curvature, angle and / or shape of the bone surface may cause the sagittal saw blade carriage to deflect in a certain direction. As with most mechanical devices, the carriage will advance along the path of least resistance when it is advanced. Since the bone above the carriage is easier to cut than the bone below the carriage, the carriage will bend upwards outside the intended cutting plane when it is advanced. The upward deflection or drifting of the saw blade is called skiving. This may also be the case when the carriage is deflected below the cutting plane when it is advanced due to the density of the bone and the shape of the bone at the position where the device enters. This deflection or drifting of the saw blade is called diving.

[0006] Regardless of the direction of blade deflection or offset, it is undesirable. This is because sagittal saw blade brackets are typically used to remove bone so that an artificial implant can be assembled in the space previously occupied by the removed bone. Implants are formed with surfaces that are designed to be precisely placed against complementary surfaces of the bone against which the implant is mounted. If the cut does not leave the bone with a surface of the desired shape, the results of the implant assembly process may not be optimal.

[0007] In theory, one can increase the stiffness of a surgical sagittal saw blade carriage by increasing the thickness of the guide rod. It should be understood that the incision of the cutting guide through which the carriage is inserted tends to be relatively narrow. Typically, the height of the incision is about 1.5 mm or less. This height restriction imposes a limit on the thickness of the carriage guide rod that can be inserted into the incision. In addition, if the thickness of the guide rod is increased, the thickness of the incision to be formed by the carriage needs to be increased. Increasing the thickness of the incision will also cause the carriage to leave a cutting surface that does not have the desired planar smoothness. Therefore, increasing the thickness of the guide rod is generally not a viable solution for reducing the incidence of carriage deflection. In robotic applications, the thickness of the cutting guide is not a limiting factor, but increasing the thickness of the guide rod therefore requires increasing the thickness of the saw blade tip, which also increases the amount of bone to be removed (requiring more work to be done), which may be undesirable. Summary of the invention

[0008] The present invention relates to a new and useful surgical sagittal saw blade bracket. The surgical sagittal saw blade bracket includes a guide rod designed to resist deformation when subjected to uneven resistance.

[0009] The surgical sagittal saw blade carriage of the present invention comprises a guide bar formed of three plates. There is a first plate (top plate) and a second plate (bottom plate) opposite the top plate. There is a third plate (inner plate) between the first plate and the second plate. The inner plate is formed to have a curved head. The curved head acts as a boss about which the carriage head pivots.

[0010] This summary introduces a series of concepts in a simplified form that are further described in the detailed description below. This summary is not intended to limit the scope of the claimed subject matter, nor is it intended to identify key features or essential features of the claimed subject matter.

[0011] In one aspect, a saw blade bracket for use with a surgical device is disclosed. The saw blade bracket also includes a guide rod, which may include:. The bracket also includes a first plate and a second plate, each of which has a distal portion and a proximal portion. The bracket also includes an inner plate at least partially disposed between the first plate and the second plate, the inner plate defining a pivot surface. The bracket also includes a saw blade at least partially disposed between the first plate and the second plate, the saw blade may include:. The bracket also includes a saw blade body, the saw blade body including a proximal end and a distal end. The bracket also includes a saw blade head disposed at the distal end of the saw blade body, the saw blade head being formed with teeth, wherein the proximal end of the saw blade body abuts the pivot surface. The bracket also includes a proximal portion of each of the first plate and the second plate, each defining a peripheral edge. The bracket also includes a portion of the inner plate extending beyond the peripheral edge defined by the proximal portion of at least one of the first plate and the second plate.

[0012] In a second aspect, a saw blade bracket of a surgical device is disclosed. The saw blade bracket also includes a guide rod, which may include:. The bracket also includes a first plate and a second plate, each of which has a distal portion and a proximal portion. The bracket also includes an inner plate partially disposed between the first plate and the second plate. The bracket also includes the guide rod defining a pivot surface. The bracket also includes a saw blade at least partially disposed between the first plate and the second plate, which may include:. The bracket also includes a saw blade body, which includes a proximal end and a distal end. The bracket also includes a saw blade head disposed on the distal end of the saw blade body, the saw blade head being formed with teeth, wherein the proximal end of the saw blade body abuts the pivot surface. The bracket also includes a proximal portion of each of the first plate and the second plate, each defining a peripheral edge. The bracket also includes a portion of the inner plate extending beyond the peripheral edge defined by the proximal portion of at least one of the first plate and the second plate.

[0013] In a third aspect, a saw blade bracket, a surgical device, and a navigation system are disclosed. The saw blade bracket also includes a guide rod, the guide rod includes a distal portion and a proximal portion, and the guide rod may include:. The bracket also includes a first plate. The bracket also includes a second plate. The bracket also includes an inner plate disposed between the first plate and the second plate. The bracket also includes a saw blade at least partially disposed between the first plate and the second plate of the guide rod, and the saw blade may include:. The bracket also includes a saw blade body, the saw blade body includes a proximal end and a distal end, and the proximal end of the saw blade body is adjacent to a pivot defined by the guide rod. The bracket also includes a saw blade head disposed on the distal end of the saw blade body, and the saw blade head is formed with teeth. The bracket also includes at least three marks disposed on the outer surface of one of the first plate and the second plate to define the plane of the guide rod within the coordinate system of the navigation system.

[0014] In a fourth aspect, a saw blade bracket, a surgical device, and a navigation system are disclosed. The saw blade bracket also includes a guide rod, the guide rod includes a distal portion and a proximal portion, and the guide rod may include: a first plate; a second plate; and an inner plate partially disposed between the first plate and the second plate, the inner plate defining a pivot surface. The bracket also includes a saw blade at least partially disposed between the first plate and the second plate, the saw blade may include: a saw blade body, which includes a proximal end and a distal end, the proximal end of the saw blade body abutting the pivot surface; and a saw blade head disposed on the distal end of the saw blade body, the saw blade head being formed with teeth. The bracket also includes at least three openings defined in one of the first plate and the second plate, the at least three openings being used to provide access to the outer surface of the inner plate at the position of each of the at least three openings.

[0015] In a fifth aspect, a saw blade bracket for a surgical device is disclosed. The saw blade bracket also includes a guide rod, the guide rod includes a distal end and a proximal end, the guide rod may include: a first plate; a second plate; and an inner plate partially disposed between the first plate and the second plate, the inner plate defining a pivot surface; a recess defined in the proximal end of at least one of the first plate, the second plate, and the inner plate. The bracket also includes a saw blade at least partially disposed between the first plate and the second plate, the saw blade may include: a saw blade body, which includes a proximal end and a distal end, the proximal end of the saw blade body abutting the pivot surface; and a saw blade head disposed on the distal end of the saw blade body, the saw blade head formed with teeth.

[0016] In a sixth aspect, a surgical saw system is disclosed. The surgical saw system also includes a surgical device, the surgical device includes a mount, the mount defines a mounting surface, and the mount may include: a first wall and a second wall extending above the mounting surface, the first wall and the second wall are disposed on opposite sides of a longitudinal axis of the mount; the first wall and the second wall are inclined relative to the longitudinal axis of the mount; at least one tab is disposed on each of the first wall and the second wall, each of the at least one tab is disposed above the mounting surface and extends across the mounting surface. The system also includes a saw blade bracket that can be removably coupled to the mount of the surgical device, the saw blade bracket may include: a guide bar including a distal portion and a proximal portion, the guide bar may include: a first plate; a second plate; and an inner plate partially disposed between the first plate and the second plate, wherein the proximal portion of each of the first plate and the second plate each defines a peripheral edge, wherein a portion of the proximal portion of the inner plate extends beyond the peripheral edge defined by the proximal portion of at least one of the first plate and the second plate. The system also includes each of the first wall and the second wall engaging a peripheral edge of at least one of the first plate and the second plate to facilitate alignment of the saw blade bracket along the longitudinal axis, and each of the at least one protrusion engaging a surface of a portion of the proximal portion of the inner plate that extends beyond the peripheral edge defined by the proximal portion of at least one of the first plate and the second plate.

[0017] In a seventh aspect, a method for confirming the position and / or orientation of a surgical saw blade using a navigation system is disclosed. The method also includes positioning an instrument including a first tracking device so that the distal end of the instrument is disposed within a first opening of a plurality of openings and adjacent to the surface of an inner plate. The method also includes repositioning the instrument so that the distal end of the instrument is disposed within a second opening of a plurality of openings and adjacent to the surface of the inner plate. The method also includes determining an actual position and orientation of the surgical saw blade based at least on the positions of the first opening and the second opening identified using the instrument. The method also includes determining an expected position and orientation of the surgical saw blade based on predetermined geometric data corresponding to a relationship between mounting features of a surgical manipulator and the positions of a plurality of openings in a first plate or a second plate of the surgical saw blade. The method also includes comparing the expected positions and orientations of the plurality of openings with the actual positions and orientations of the plurality of openings.

[0018] In an eighth aspect, a method for confirming the position and / or orientation of a surgical saw blade within a known coordinate system defined by a navigation system is disclosed. The method also includes manipulating an instrument including a first tracking device so that the distal end of the instrument contacts each of a plurality of markers on the outer surface of a guide rod. The method also includes repositioning the instrument so that the distal end of the instrument contacts one of the plurality of markers on the outer surface of the guide rod. The method also includes determining the actual position and orientation of each marker within the known coordinate system based at least on the posture of the instrument when contacting each marker. The method also includes determining the expected position and orientation of the marker within the known coordinate system based on predetermined geometric data. The method also includes comparing the expected position and orientation of each of the plurality of markers with the actual position and orientation of each of the plurality of markers. The method also includes assigning a modified position based on the deviation between the expected position and orientation of each of the plurality of markers based on the predetermined geometric data and the actual position. The method also includes defining a plane of the surgical saw blade within the known coordinate system based on the modified position.

[0019] In a ninth aspect, a method for operating a saw blade using a navigation system is disclosed. The method also includes mounting a surgical saw blade to a surgical manipulator, the surgical manipulator including a first tracking device. The method also includes contacting each of at least three markers on the surgical saw blade with a distal end of an instrument, the instrument including a second tracking device. The method also includes tracking the position of the first tracking device and the second tracking device using a locator of the navigation system when the distal end of the instrument contacts each of the at least three markers on the surgical saw blade to define an actual position of each of the at least three markers relative to a known coordinate system. The method also includes performing a mathematical fit on the actual position of each of the at least three markers and the expected position of each of the at least three markers relative to the known coordinate system. The method also includes determining a hybrid position within the known coordinate system based on the product of the mathematical fit of each of the at least three markers. The method also includes defining a plane of the surgical saw blade based on the hybrid position of each of the at least three markers within the known coordinate system.

[0020] In a tenth aspect, a method of registering a saw blade within a known coordinate system of a navigation system is disclosed. The method also includes mounting a surgical saw blade to a surgical manipulator, the surgical manipulator including a first tracking device. The method also includes manipulating an instrument including a second tracking device so that a distal end of the instrument passes through each of at least three holes and contacts an inner plate exposed by each hole. The method also includes tracking the position of the first tracking device and the second tracking device using a locator of the navigation system when the distal end of the surgical instrument contacts the inner plate through each of the at least three holes on the surgical saw blade to define an actual position of each of the at least three holes relative to the first tracking device of the surgical manipulator. The method also includes defining an actual position of a portion of the inner plate exposed by each of the at least three holes within the known coordinate system based on the position tracked by the instrument when passing through each of the at least three holes and contacting the inner plate. The method also includes comparing an expected position of the portion of the inner plate exposed by each of the at least three holes within the known coordinate system with an actual position of the portion of the inner plate exposed by each of the at least three holes within the known coordinate system. The method further includes modifying the position of the portion of the inner plate exposed by each of the at least three holes in the known coordinate system based on a deviation between an actual position of the portion of the inner plate exposed by each of the at least three holes in the known coordinate system and an expected position. The method further includes defining a plane of the surgical saw blade based on the modified position of the portion of the inner plate exposed by each of the at least three holes in the known coordinate system.

[0021] In an eleventh aspect, a method for registering a saw blade within a known coordinate system of a navigation system is disclosed. The method also includes mounting a surgical saw blade to a surgical manipulator, the surgical manipulator including a first tracking device. The method also includes contacting each of at least three reference features on the surgical saw blade with a distal end of a surgical instrument, the surgical instrument including a second tracking device. The method also includes tracking the position of the first tracking device and the second tracking device using a locator of the navigation system when the distal end of the surgical instrument contacts each of the at least three reference features on the surgical saw blade to define an actual position of each of the at least three reference features relative to the first tracking device of the surgical manipulator. The method also includes performing a mathematical fit based on the actual position of each of the at least three reference features and the expected position of each of the at least three reference features relative to the known coordinate system. The method also includes determining a blended position of the at least three reference features within the known coordinate system based on the mathematical fit. The method also includes defining a plane of the surgical saw blade based on the blended position of the at least three reference features within the known coordinate system.

[0022] In a twelfth aspect, a method of controlling a handheld medical robotic system for use with a surgical saw blade is disclosed. The method also includes registering the surgical saw blade to a navigation system, and the step of registering the surgical saw blade may include manipulating an instrument including a first tracking device to insert a distal end of the instrument into each of a plurality of openings to contact a surface of an inner plate at each location of the plurality of openings to define a plane of the surgical saw blade in a first coordinate system relative to a second tracking device coupled to the handheld medical robotic system. The method also includes navigating the surgical saw blade based on the position and orientation of the second tracking device.

[0023] In a thirteenth aspect, a method of controlling a handheld medical robotic system for use with a surgical saw blade is disclosed. The method also includes registering the surgical saw blade to a navigation system, and the step of registering the surgical saw blade may include manipulating an instrument including a first tracking device to track an optical marker extending between two reference features using a surface of a distal end of the instrument contacting a guide rod to define a plane of the surgical saw blade within a first coordinate system relative to a second tracking device coupled to the handheld medical robotic system. The method also includes navigating the surgical saw blade based on the position and orientation of the second tracking device.

[0024] In a fourteenth aspect, a surgical saw system is disclosed. The surgical saw system also includes a surgical device, the surgical device includes a mount, the mount defines a mounting surface, and the mount may include:. The system also includes a first wall and a second wall extending above the mounting surface, the first wall and the second wall being disposed on opposite sides of a longitudinal axis of the mount. The system also includes a first wall and a second wall, each of the first wall and the second wall having a proximal portion and a distal portion, the proximal portion being oriented at a first internal taper angle relative to the longitudinal axis of the mount, and the distal portion being oriented at a second internal taper angle relative to the longitudinal axis of the mount. The system also includes the second internal taper angle being greater than the first internal taper angle relative to the longitudinal axis of the mount but not the first taper. The system also includes at least one tab disposed on each of the first wall and the second wall, each of the at least one tab being disposed above the mounting surface and extending across the mounting surface. The system also includes a saw blade bracket detachably coupled to the surgical device mount, the saw blade bracket may include:. The system also includes a guide rod, the guide rod including a distal portion and a proximal portion, the guide rod may include:. The system also includes a first plate. The system also includes a second plate. The system also includes an inner plate partially disposed between the first plate and the second plate. The system also includes one of the first plate and the second plate defining an outer edge of a proximal portion of the guide rod. The system also includes a proximal portion of each of the first wall and the second wall engaging with the outer edge of the proximal portion of the guide rod to facilitate alignment of the saw blade bracket along the longitudinal axis. The system also includes a distal portion of the wall spaced apart from the outer edge of the proximal portion of the guide rod. The system also includes a lower surface of each of the at least one tab being disposed on the top surface of the inner plate. In some of the above embodiments, the guide rod may further define a longitudinal axis extending between the distal portion and the proximal portion of the guide rod; and an outer perimeter of the proximal portion of the guide rod defines a first cone angle relative to the longitudinal axis between a first point and a second point on the outer perimeter; and the outer perimeter defines a second cone angle relative to the longitudinal axis between a second point and a third point on the outer perimeter, the first point being closer to the proximal end of the bracket than the third point, and the second point being disposed between the first point and the third point.

[0025] In some of the above embodiments, an outer edge of the proximal portion of the guide rod may define a third taper angle relative to the longitudinal axis.

[0026] In some of the above embodiments, the pivot surface may include an arcuate surface, and the proximal end of the saw blade body defines a recess adjacent to the pivot surface, so that the saw blade body is configured to pivot about the pivot surface defined by the inner plate when the saw blade body is actuated.

[0027] In some of the above embodiments, at least one of the plates may define a reference feature configured to facilitate determining a position and / or orientation of the surgical saw blade carriage within a known coordinate system of the navigation system.

[0028] In some of the above embodiments, the reference feature is selected from the group consisting of an optical mark, a pit or a hole, the reference feature includes a plurality of laser marks, and at least one of the plurality of laser marks is disposed on each side of the longitudinal axis of the surgical saw blade holder.

[0029] In some of the above embodiments, at least one of the first plate and the second plate is shaped to provide access to reference features of the inner plate, and each of the reference features is disposed on a surface of the inner plate exposed by a hole in one of the outer plates.

[0030] In some of the above-mentioned embodiments, the position of the mark and / or reference feature defined on the guide rod can be configured to be used to identify a saw blade bracket using a navigation system, which saw blade bracket includes one or more features of the saw blade bracket, which include at least one of the following: the type of saw blade, the saw blade thickness of the saw blade head, the tooth configuration of the saw blade head, the length of the guide rod and / or the width of the guide rod.

[0031] In some of the above embodiments, the surgical manipulator and / or the surgical device is one of a handheld tool, a robotic arm, and a handheld robot.

[0032] In some of the above embodiments, the guide rod is further formed such that a portion of the inner plate is exposed by one of the first outer plate and the second outer plate, the exposed portion being configured for engagement with a mount of a surgical manipulator.

[0033] In some of the above embodiments, the proximal portion of the surgical saw blade bracket can define an outer perimeter, a portion of which can be used as a contact point to removably engage a surgical manipulator such that the contact point helps align the saw blade bracket with the surgical device.

[0034] In some of the above embodiments, the saw blade head may define one or more holes or cutouts to allow debris to escape and / or to be used as a reference point when manufacturing the saw blade.

[0035] In a fifteenth aspect, a surgical saw system is disclosed. The surgical saw system also includes a surgical device, the surgical device includes a mount, the mount defines a mounting surface, and the mount may include: a first wall and a second wall extending above the mounting surface, the first wall and the second wall are disposed on opposite sides of the longitudinal axis of the mount; the first wall and the second wall are inclined relative to the longitudinal axis of the mount; at least one tab is disposed on each of the first wall and the second wall, each of the at least one tab is disposed above the mounting surface and extends across the mounting surface. The system also includes a saw blade bracket that can be removably coupled to the mount of the surgical device, the saw blade bracket may include:. The system also includes a guide rod, the guide rod includes a distal portion and a proximal portion, the guide rod may include:. The system also includes a first plate and a second plate, at least one of the first plate and the second plate defining a first outer edge of the proximal portion of the guide rod. The system also includes an inner plate partially disposed between the first plate and the second plate, the inner plate defining a pivot surface and a second outer edge of a portion of the proximal portion of the guide rod. The system also includes a second outer edge of the inner plate extending beyond the first outer edge defined by the first plate, the second outer edge being configured to engage the first and second walls of the surgical device to help align the saw blade bracket within the mount of the surgical device.

[0036] In a sixteenth aspect, a saw blade bracket for use with a surgical device is disclosed. The saw blade bracket also includes a guide rod, the guide rod includes a distal portion and a proximal portion, and the guide rod may include:. The bracket also includes a first plate. The bracket also includes a second plate disposed adjacent to the first plate, the second plate defining a pivot surface. The bracket also includes a saw blade extending distally from the distal portion of the guide rod, the saw blade may include:. The bracket also includes a saw blade body, the saw blade body including a proximal end and a distal end. The bracket also includes a saw blade head disposed on the distal end of the saw blade body, the saw blade head formed with teeth, wherein the proximal end of the saw blade body abuts the pivot surface. The bracket also includes a proximal portion defining a proximal end. The bracket also includes a first plate defining a first outer edge. The bracket also includes a second plate defining a second outer edge, the second outer edge extending beyond the first outer edge defined by the first plate, and the second outer edge is distally inclined outward from the proximal end of the proximal portion toward the distal end of the proximal portion, so that the second outer edge helps align the saw blade bracket with the surgical device.

[0037] In a seventeenth aspect, a saw blade bracket for use with a surgical device is disclosed. The saw blade bracket also includes a guide rod, the guide rod including a distal portion and a proximal portion, and the guide rod may include:. The bracket also includes a first plate defining a first outer edge of the proximal portion. The bracket also includes a second plate disposed adjacent to the first plate, the second plate defining a pivot surface and a second outer edge of the proximal portion of the guide rod. The bracket also includes a second outer edge extending beyond the first outer edge defined by the first plate, the second outer edge being configured to engage with the surgical device to help align the saw blade bracket with the surgical device. The bracket also includes a saw blade extending distally of the distal portion of the guide rod, and the saw blade may include:. The bracket also includes a saw blade body, the saw blade body including a proximal end configured to abut the pivot surface.

[0038] In an eighteenth aspect, a saw blade bracket for use with a surgical device guided by a navigation system is disclosed. The saw blade bracket also includes a guide rod, the guide rod includes a distal portion and a proximal portion, and the guide rod may include:. The bracket also includes a first plate defining a first hole. The bracket also includes a second plate defining a second hole. The bracket also includes an inner plate partially disposed between the first plate and the second plate, the inner plate defining a pivot surface. The bracket also includes the first hole and the second hole configured to facilitate determining the position and / or orientation of the guide rod using a navigation system. The bracket also includes a saw blade extending distally from the distal portion of the guide rod, and the saw blade may include:. The bracket also includes a saw blade body, the saw blade body including a proximal end configured to abut the pivot surface. The bracket also includes a proximal portion defining the proximal end. The bracket also includes the first plate and the second plate configured so that the first hole is concentrically aligned with the second hole.

[0039] In a nineteenth aspect, a saw blade bracket for use with a surgical device including a tracker that is identifiable by / associated with a navigation system is disclosed. The saw blade bracket also includes a guide rod having a distal portion and a proximal portion, the guide rod may include: a first plate that defines a first reference feature in the distal portion and a second reference feature in the proximal portion; a second plate that defines a third reference feature in the distal portion and a fourth reference feature in the proximal portion; and an inner plate at least partially disposed between the first plate and the second plate, wherein the combination of reference features can be used to align the saw blade bracket relative to the tracker of the surgical device within a known coordinate system defined by the navigation system. The bracket also includes a saw blade that is at least partially disposed between the first plate and the second plate, the saw blade may include:. The bracket also includes a saw blade body, the saw blade body including a proximal end and a distal end. The bracket also includes a saw blade head disposed on the distal end of the saw blade body, the saw blade head being formed with teeth.

[0040] In a twentieth aspect, a surgical saw assembly for use with a navigation system is disclosed. The surgical saw assembly also includes a surgical instrument / device having an instrument reference feature. The assembly also includes a tracker disposed on the surgical instrument, the tracker being identifiable by and / or associated with the navigation system. The assembly also includes a saw blade bracket that can be removably coupled to the surgical device, the saw blade bracket can include: a guide rod having a distal portion and a proximal portion, the guide rod can include: a first plate that defines a first reference feature in the distal portion and a second reference feature in the proximal portion; a second plate that defines a third reference feature in the distal portion and a fourth reference feature in the proximal portion; and an inner plate that is at least partially disposed between the first plate and the second plate, the inner plate defining a pivot surface. The assembly also includes a combination of reference features that can be used to facilitate registration of the saw blade bracket relative to the tracker of the surgical device within a known coordinate system defined by the navigation system. The saw blade extends from the distal portion of the guide rod.

[0041] In a twenty-first aspect, a method of registering a saw blade within a known coordinate system of a navigation system is disclosed. The method also includes mounting a surgical saw blade to a surgical manipulator, the surgical manipulator including a first tracking device. The method also includes contacting each of at least three reference features on the surgical saw blade with a distal end of a surgical instrument, the surgical instrument including a second tracking device. The method also includes tracking the position of the first tracking device and the second tracking device using a locator of the navigation system when the distal end of the surgical instrument contacts each of the at least three reference features on the surgical saw blade to define an actual position of each of the at least three reference features relative to the first tracking device of the surgical manipulator. The method also includes defining a plane of the surgical saw blade based on the actual positions of the at least three reference features within the known coordinate system.

[0042] In a twenty-second aspect, a method of registering a saw blade within a known coordinate system of a navigation system is disclosed. The method also includes mounting a surgical saw blade to a surgical manipulator, the surgical manipulator including a first tracking device. The method also includes contacting each of at least two reference features on a first surface of the surgical saw blade with a distal end of a surgical instrument, the surgical instrument including a second tracking device. The method also includes contacting each of at least two reference features on a second surface of the surgical saw blade with a distal end of the surgical instrument. The method also includes tracking the position of the first tracking device and the second tracking device using a locator of the navigation system when the distal end of the surgical instrument contacts each of the reference features on both the first surface and the second surface of the surgical saw blade to define an actual position of each of the reference features on the first surface and the second surface relative to the first tracking device of the surgical manipulator. The method also includes comparing the actual position of each of the reference features in the known coordinate system with the position of the manipulator reference features in the known coordinate system to verify whether the surgical saw blade is properly mounted to the surgical manipulator.

[0043] In a twenty-third aspect, a method of registering a saw blade within a known coordinate system of a navigation system is disclosed. The method also includes mounting a surgical saw blade bracket to a surgical manipulator, the surgical saw blade bracket including a guide bar having a first plate disposed adjacent to a second plate and a saw blade disposed at least partially between the first plate and the second plate and extending from a distal end of the guide bar, and the surgical manipulator including a first tracking device. The method also includes contacting each of at least two reference features on the first plate of the guide bar with a distal end of a surgical instrument, the surgical instrument including a second tracking device. The method also includes contacting each of at least two reference features on the second plate of the guide bar with a distal end of the surgical instrument, each of the reference features of the first plate being concentric with one of the reference features of the second plate. The method also includes tracking the position of the first tracking device and the second tracking device using a localizer of the navigation system when the distal end of the surgical instrument contacts each of the reference features on both the first plate and the second plate of the surgical saw blade bracket to define an actual position of each of the reference features of the first plate and the second plate relative to the first tracking device of the surgical manipulator. The method also includes determining a thickness of the bracket based on the actual position of the reference features on the first plate and the second plate. The method also includes providing an indication to a user based on the determined thickness of the bracket.

[0044] In a twenty-fourth aspect, a method of registering a saw blade within a known coordinate system of a navigation system is disclosed. The method also includes mounting a surgical saw blade to a surgical manipulator, the surgical manipulator including a first tracking device. The method also includes contacting each of at least two reference features on a first surface of the surgical saw blade with a distal end of a surgical instrument, the surgical instrument including a second tracking device. The method also includes contacting each of at least two reference features on a second surface of the surgical saw blade with a distal end of the surgical instrument. The method also includes contacting at least one reference feature on the surgical manipulator. The method also includes tracking the position of the first tracking device and the second tracking device using a locator of the navigation system when the distal end of the surgical instrument contacts each of the reference features on both the surgical saw blade and the surgical manipulator to define an actual position of each of the reference features of the surgical saw blade relative to a reference feature of the surgical manipulator. The method also includes defining a hybrid position of each of the at least one reference feature of the surgical manipulator by performing a mathematical fit between the actual position of each of the reference features of the surgical saw blade relative to at least one reference feature of the surgical manipulator.

[0045] In a twenty-fifth aspect, a method of registering a surgical saw blade within a known coordinate system of a navigation system is disclosed. The method also includes mounting the surgical saw blade to a surgical manipulator, the surgical manipulator including a first tracking device. The method also includes contacting each of at least two reference features on a first surface of the surgical saw blade with a distal end of a surgical instrument, the surgical instrument including a second tracking device. The method also includes contacting each of at least two reference features on a second surface of the surgical saw blade with a distal end of the surgical instrument. The method also includes tracking the position of the first tracking device and the second tracking device using a locator of the navigation system when the distal end of the surgical instrument contacts each of the reference features on both the first surface and the second surface of the surgical saw blade to define the actual position of each of the reference features on the first surface and the second surface relative to the first tracking device of the surgical manipulator. The method also includes defining the position and / or orientation of the surgical saw blade within the known coordinate system in one or more degrees of freedom based on a mathematical fit of the positions of at least two reference features on each of the first surface and the second surface.

[0046] In a twenty-sixth aspect, a method of registering a surgical saw assembly within a known coordinate system of a navigation system is disclosed. The method also includes mounting a surgical saw blade to a surgical manipulator, the surgical manipulator including a first tracking device. The method also includes contacting each of at least two reference features on a first surface of the surgical saw blade with a distal end of a surgical instrument, the surgical instrument including a second tracking device. The method also includes contacting each of at least two reference features on a second surface of the surgical saw blade with the distal end of the surgical instrument. The method also includes contacting a manipulator reference feature defined on the surgical manipulator with the distal end of the surgical instrument. The method also includes tracking the position of the first tracking device and the second tracking device using a localizer of the navigation system when the distal end of the surgical instrument contacts each of the reference features on both the first surface and the second surface of the surgical saw blade to define an actual position of each of the reference features on the first surface and the second surface and the manipulator reference feature relative to the first tracking device of the surgical manipulator. The method also includes defining a hybrid position of the manipulator reference feature within the known coordinate system based on a comparison of the actual position of each of the reference features on the first surface and the second surface relative to the manipulator reference feature. The method also includes defining a position and / or orientation of the surgical saw assembly within the known coordinate system in at least one degree of freedom based on a mathematical fit of the positions of at least two reference features of each of the first and second surfaces and a blended position of the manipulator reference feature.

[0047] In a twenty-seventh aspect, a method of registering a saw assembly within a known coordinate system of a navigation system is disclosed. The method also includes mounting a surgical saw blade to a surgical manipulator, the surgical manipulator including a first tracking device. The method also includes contacting each of at least two reference features on a first surface of the surgical saw blade with a distal end of a surgical instrument, the surgical instrument including a second tracking device. The method also includes contacting each of at least two reference features on a second surface of the surgical saw blade with the distal end of the surgical instrument. The method also includes contacting a manipulator reference feature defined on the surgical manipulator with the distal end of the surgical instrument. The method also includes tracking the position of the first tracking device and the second tracking device using a localizer of the navigation system when the distal end of the surgical instrument contacts each of the reference features on both the first surface and the second surface of the surgical saw blade to define an actual position of each of the reference features of the first surface and the second surface and the manipulator reference feature relative to the first tracking device of the surgical manipulator. The method also includes applying a first mathematical fit to the actual positions of the reference features of the first surface and the second surface and the manipulator reference feature relative to each other. The method also includes defining a hybrid position of the manipulator reference feature based on the first mathematical fit. The method also includes applying a second mathematical fit to the actual positions of the reference features of the first and second surfaces and the blended position of the manipulator reference features relative to each other. The method also includes defining a position and / or orientation of the surgical saw assembly within the known coordinate system in one or more degrees of freedom based on the second mathematical fit.

[0048] In a twenty-eighth aspect, a method for verifying the installation of a surgical saw blade to a surgical manipulator is disclosed. The method also includes installing the surgical saw blade to a surgical manipulator, the surgical manipulator including a first tracking device. The method also includes contacting each of at least two reference features on a first surface of the surgical saw blade with a distal end of a surgical instrument, the surgical instrument including a second tracking device. The method also includes contacting a manipulator reference feature defined on the surgical manipulator with the distal end of the surgical instrument. The method also includes applying a mathematical fit to the actual positions of the reference features of the first surface and the manipulator reference features relative to each other. The method also includes comparing the output of the mathematical fit to a threshold value, wherein the output of the mathematical fit relative to the threshold value indicates whether the surgical saw blade is properly installed to the surgical manipulator.

[0049] In a twenty-ninth aspect, a method of verifying the registration of a surgical saw blade within a known coordinate system of a navigation system is disclosed. The method also includes mounting the surgical saw blade to a surgical manipulator, the surgical manipulator including a first tracking device. The method also includes contacting a first reference feature positioned on a proximal portion of a first plate of the surgical saw blade with a distal end of a surgical instrument and contacting a second reference feature positioned on a distal portion of the first plate with a distal end of the surgical instrument, the surgical instrument including a second tracking device. The method also includes contacting a third reference feature positioned on a proximal portion of a second plate of the surgical saw blade with a distal end of the surgical instrument and contacting a fourth reference feature positioned on a distal portion of the second plate with a distal end of the surgical instrument. The method also includes defining a first saw blade thickness based on a comparison of the positions of the first reference feature of the first plate and the third reference feature of the second plate. The method also includes defining a second saw blade thickness based on a comparison of the positions of the second reference feature of the first plate and the fourth reference feature of the second plate. The method also includes calculating a deviation between the first saw blade thickness and the second saw blade thickness. The method also includes deflecting a distal portion of the first plate and / or the second plate when the first plate and / or the second plate contacts any one of the second reference feature and the fourth reference feature indicative of a deviation between the first blade thickness and the second blade thickness.

[0050] One or more embodiments of the above aspects may optionally include one or more of the following features. The method of the step of defining a hybrid position of at least one reference feature of the surgical manipulator within a known coordinate system based on a mathematical fit is such that the hybrid position of each of the reference features differs from the actual position in only one degree of freedom. The step of defining a hybrid position of at least one reference feature of the surgical manipulator within a known coordinate system based on a mathematical fit causes the actual position of each of the at least one reference feature of the surgical manipulator to move in only one degree of freedom. The method as described in any of 123 may include: comparing the actual position of the at least one reference feature of the manipulator with the actual position of each of the reference features of the surgical saw blade; and determining whether the surgical saw blade is correctly mounted to the surgical manipulator based on the deviation of the actual position of the at least one reference feature of the manipulator from the actual position of each of the reference features of the surgical saw blade being within an acceptance threshold / range. The method as described in any of 123 may include: rejecting the registration of the surgical saw blade within the known coordinate system of the navigation system based on the deviation of the actual position of the at least one reference feature of the manipulator from the actual position of each of the reference features of the surgical saw blade being within an acceptance threshold / range. The method as described in any of 123 may include: comparing the blended position of at least one reference feature of the manipulator to the actual position of each of the reference features of the surgical saw blade; and determining whether the surgical saw blade is properly mounted to the surgical manipulator based on the deviation between the blended position of at least one reference feature of the manipulator and the actual position of each of the reference features of the surgical saw blade being within an acceptance threshold / range. The method as described in any of 123 may include: rejecting the alignment of the surgical saw blade within a known coordinate system of the navigation system based on the deviation between the blended position of at least one reference feature of the manipulator and the actual position of each of the reference features of the surgical saw blade being within an acceptance threshold / range. The acceptance threshold for the deviation between the blended position of at least one reference feature of the manipulator and the actual position of each of the reference features of the surgical saw blade is plus or minus one millimeter (+ / -1 mm).

[0051] Embodiments of one or more of the above aspects may also optionally include one or more of the following features. The method may include the steps of: contacting a manipulator reference feature defined on a surgical manipulator with a distal end of a surgical instrument; and defining a blended position of the manipulator reference feature within a known coordinate system based on a comparison of the actual position of each of the reference features of the first surface and the second surface relative to the manipulator reference feature; and the tool center point is further defined based on a mathematical fit of the positions of at least two reference features of each of the first surface and the second surface to the blended position of the manipulator reference feature. The step of defining the position and / or orientation of the surgical saw blade within a known coordinate system in one or more degrees of freedom may include defining the position and / or orientation of the surgical saw blade within a known coordinate system in up to six (6) degrees of freedom.

[0052] Any of the above aspects can be combined in whole or in part. Any features of the above aspects can be combined in whole or in part. Any of the above embodiments can be combined with any other aspect. Any of the above embodiments can be combined with any other embodiment, whether for the same aspect or different aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The invention is pointed out with particularity in the claims. The above and other features and advantages of the invention will be understood by the following detailed description taken in conjunction with the accompanying drawings, wherein:

[0054] Figure 1 is a perspective view of a surgical system including a navigation system and a surgical saw blade coupled to a surgical manipulator.

[0055] Figure 2A is used with Figure 1 Surgical saw blade holder and / or Figure 1 A perspective view of a first configuration of the surgical system.

[0056] Figure 2B yes Figure 2A A top view of a first configuration of a surgical saw blade holder.

[0057] Figure 2C yes Figure 2A A bottom view of a first configuration of a surgical saw blade holder.

[0058] Figure 2D yes Figure 2A A side view of a first configuration of a surgical saw blade holder.

[0059] Figure 2E yes Figure 2A An enlarged perspective view of a proximal portion of a first configuration of a surgical saw blade holder.

[0060] Figure 2F yes Figure 2A A partially exploded view of a first configuration of a surgical saw blade holder.

[0061] Figure 3A is used with Figure 1 A perspective view of a second configuration of a surgical saw blade bracket for use with the surgical system.

[0062] Figure 3B yes Figure 3A A top view of a second configuration of the surgical saw blade holder.

[0063] Figure 3C yes Figure 3A A bottom view of a second configuration of the surgical saw blade holder.

[0064] Figure 3D yes Figure 3A A side view of a second configuration of the surgical saw blade holder.

[0065] Figure 3E yes Figure 3A A top view of a second configuration of a surgical saw blade holder including additional reference features and / or markings.

[0066] Figure 3F yes Figure 3A A partial exploded view of a second configuration of a surgical saw blade holder.

[0067] Figure 4A is a top view of a saw blade carriage including a first configuration of a saw blade head.

[0068] Figure 4B is a top view of a saw blade carriage including a second configuration of a saw blade head.

[0069] Figure 5A yes Figure 4A A top view of a distal portion of a saw blade carriage with a top plate removed to illustrate a first configuration of a saw blade head within the surgical saw blade carriage.

[0070] Figure 5B yes Figure 4B A top view of the distal portion of the saw blade carriage with the top plate removed to illustrate a second configuration of the saw blade head within the surgical saw blade carriage.

[0071] Fig. 6A yes Figure 1 A perspective view of a surgical manipulator and a pointer of a surgical system of FIG. 1 , the surgical manipulator comprising a surgical saw blade holder having multiple reference features and a tool tracker, the pointer comprising a pointer tracker.

[0072] Figure 6B yes Fig. 6A A partial cross-sectional view of a distal end of a pointer disposed in a hole in a surgical saw blade bracket, the distal end of the pointer contacting a reference feature located on an inner layer of the surgical saw blade bracket exposed by the hole.

[0073] Figure 6C yes Figure 1 A perspective view of a surgical manipulator and a pointer of a surgical system of the invention, the surgical manipulator comprising a surgical saw blade holder having an alternative configuration of a reference feature and a tool tracker, and the pointer comprising a pointer tracker.

[0074] Fig.6D yes Figure 6C A partially exploded view of a surgical manipulator including a surgical saw blade holder separated from a mounting for the surgical manipulator to illustrate an alternative configuration of reference features on the surgical saw blade holder.

[0075] Fig. 7A yes Fig. 6A A partial exploded view of the surgical manipulator's mount and surgical saw blade bracket.

[0076] Figure 7B is connected to Fig. 6A Top view of the surgical saw blade bracket of the surgical manipulator's mounting bracket.

[0077] Figure 7C is connected to Figure 7B An enhanced top view of a surgical saw blade bracket of a surgical manipulator's mount showing how the surgical saw blade bracket engages the surgical manipulator's mount.

[0078] Fig.7D is connected to Figure 7B A rear view of the surgical saw blade bracket of the surgical manipulator's mount showing how the surgical saw blade bracket engages the surgical manipulator's mount.

[0079] Figure 8 is used with Figure 1 Surgical saw blade holder and / or Figure 1 A perspective view of a third configuration of the surgical manipulator.

[0080] Fig. 9 yes Figure 8 A partial exploded view of a third configuration of a surgical saw blade holder.

[0081] Fig.10 yes Figure 8 A top view of a third configuration of the surgical saw blade holder.

[0082] Fig.11 yes Figure 8 A bottom view of a third configuration of the surgical saw blade holder.

[0083] Fig.12 yes Figure 8 A cross-sectional view of a third configuration of a surgical saw blade holder.

[0084] Fig.13A yes Fig.12 An enlarged cross-sectional view of a third configuration of a surgical saw blade holder illustrating an exemplary reference feature and an exemplary configuration of a surgical instrument for contacting the reference feature.

[0085] Fig. 13B yes Fig.13A An enlarged cross-sectional view of a third configuration of a surgical saw blade holder illustrating a surgical instrument contacting a reference feature of a surgical saw blade.

[0086] Fig.14 yes Figure 8 A perspective view of a surgical saw blade including an alternative configuration of reference features.

[0087] Fig.15 yes Fig.14 Top view of a surgical saw blade holder.

[0088] Fig.16 yes Fig.14 Bottom view of a surgical saw blade holder.

[0089] Fig.17 yes Fig.14 Partial exploded view of a surgical saw blade holder.

[0090] Fig.18 is used with Figure 1 Surgical saw blade holder and / or Figure 1 A perspective view of a fourth configuration of the surgical manipulator.

[0091] Fig.19 yes Fig.18 A top exploded view of a fourth configuration of a surgical saw blade holder.

[0092] Fig. 20 yes Fig.18 A bottom view of a fourth configuration of a surgical saw blade holder.

[0093] Fig.21 yes Fig.18 A partial exploded view of a fourth configuration of a surgical saw blade holder.

[0094] Fig. 22 yes Fig.18 A cross-sectional view of a fourth configuration of a surgical saw blade holder.

[0095] Fig.23A yes Fig.18An enlarged cross-sectional view of a fourth configuration of a surgical saw blade holder illustrating an exemplary reference feature and an exemplary configuration of a surgical instrument for contacting the reference feature.

[0096] Fig. 23B yes Fig.23A An enlarged cross-sectional view of a fourth configuration of a surgical saw blade holder illustrating a reference feature of the surgical instrument contacting a surgical saw blade.

[0097] Fig.24 is a flow chart illustrating a method of registering a surgical saw blade using a navigation system.

[0098] Fig.25 is a flow chart illustrating an alternative method of registering a surgical saw blade using a navigation system.

[0099] Fig.26 is a flow chart illustrating an alternative method of registering a surgical saw blade using a navigation system.

[0100] Fig.27A is a flow chart illustrating an alternative method of registering a surgical saw blade using a navigation system, the alternative method including defining a plane of the surgical saw blade.

[0101] Fig.27B yes Fig.27A Continuation of the flowchart.

[0102] Fig.28 is a flow chart illustrating an alternative method of registering a surgical saw blade using a navigation system.

[0103] Fig.29 is a flow chart illustrating an alternative method of registering a surgical saw blade using a navigation system, the alternative method including defining a plane of the surgical saw blade.

[0104] Fig.30 is a flow chart illustrating an alternative method of registering a surgical saw blade using a navigation system.

[0105] Fig.31 is a flow chart illustrating a method of validating registration of a surgical saw blade using a navigation system.

[0106] Fig.32 is a flow chart illustrating an alternative method of registering a surgical saw blade using a navigation system.

[0107] Fig.33 is a flow chart illustrating an alternative method of registering a surgical saw blade using a navigation system.

[0108] Fig.34 is a flow chart illustrating an alternative method of registering a surgical saw blade using a navigation system.

[0109] Fig.35Ais a flow chart illustrating an alternative method of registering a surgical saw blade using a navigation system.

[0110] Fig.35B yes Fig.35A Continuation of the flowchart.

[0111] Fig.36 is a flow chart of a method for verifying proper installation of a surgical saw blade to a surgical manipulator.

[0112] Fig.37 is a flow chart illustrating a method of verifying registration of a surgical saw blade with a navigation system. DETAILED DESCRIPTION

[0113] refer to Figure 1 , a surgical system 10 is shown. The surgical system 10 is shown as performing total knee surgery on a patient 12 to remove multiple portions of the femur F and tibia T of the patient 12 so that the patient 12 can receive a total knee implant IM. The surgical system 10 can be used to perform other types of surgical procedures, including procedures involving hard / soft tissue resection or other forms of treatment. For example, treatment may include cutting tissue, coagulating tissue, ablating tissue, stapling tissue, suturing tissue, etc. In some examples, the surgical procedure includes knee surgery, hip surgery, shoulder surgery, spinal surgery, and / or ankle surgery, and may involve removing tissue to be replaced by a surgical implant (e.g., a knee implant, a hip implant, a shoulder implant, a spinal implant, and / or an ankle implant). The surgical system 10 and techniques disclosed herein can be used to perform other surgical or non-surgical procedures, and can be used in industrial applications or other applications using a surgical system.

[0114] refer to Figure 1 2 , the surgical system 10 includes a surgical manipulator 14. The surgical manipulator may include a handheld instrument, a handheld medical robotic system, a surgical robot, etc. The surgical manipulator 14 may also be referred to as a surgical instrument. Exemplary handheld robotic instruments are shown in PCT / US2002 / 042128, PCT / US2002 / 013108, PCT / US2022 / 013115, and PCT / US2022 / 054115, all of which are incorporated herein by reference in their entirety. An exemplary non-robotic instrument is shown in U.S. Patent No. 7,704,254, which is also incorporated herein by reference in its entirety. In some examples, a user manually holds and supports the surgical instrument 14 (e.g., Figure 1 In some examples, the user may manually hold the surgical instrument 14 while the surgical instrument 14 is at least partially or completely supported by an auxiliary device, such as a passive arm (e.g., a linkage arm with a locking joint, a counterweight arm), an active arm, etc. Figure 1 and Fig. 6A As best shown in FIG. 1 , surgical instrument 14 includes a tool platform 16 .

[0115] The surgical instrument 14 can be freely moved and supported by the user without the aid of a guide arm, for example, configured to be held by a human user while achieving physical removal of material so that the weight of the tool is supported only by the user's hand during the surgical procedure. In other words, the surgical instrument 14 can be configured to be held so that the user's hand supports the instrument 14 against gravity. The weight of the surgical instrument 14 can be 8 pounds or less, 6 pounds or less, 5 pounds or less, or even 3 pounds or less. The surgical instrument 14 can have a weight corresponding to ANSI / AAMI HE75:2009. The instrument 14 also includes a tool mount 18 for receiving a tool 20. In some examples, when the tool 20 is a saw blade 110, the tool mount 18 can be referred to as a saw blade mount.

[0116] The tool 20 is coupled to the tool mount 18 to interact with the anatomy during certain operations of the surgical system 10 described further below. The tool 20 may also be referred to as an end effector. The tool 20 may be removable from the tool mount 18 so that a new / different tool 20 may be attached when needed. The tool 20 may also be permanently fixed to the tool mount 18. The tool 20 may include an energy applicator that is designed to contact tissue of the patient 12. In some examples, the tool 20 may be a FIG. 2A to FIG. 2D The tool 20 may include a saw blade 110 or other type of cutting accessory as shown. In this case, the tool support may be referred to as a saw blade support or a tool mount. It should be understood that in any case where a saw blade support is mentioned, it can be replaced by the term 'tool support' and vice versa. The tool 20 may include a saw blade assembly and a drive motor to cause the saw blade to swing, as shown in U.S. Patent No. 9,820,753 or U.S. Patent No. 10,687,823 issued to Walen et al., both of which are incorporated herein by reference. Alternative rotary drive motors are conceivable. Such a drive component may include a transmission TM connected to the drive motor DM to convert the rotational motion from the drive motor DM into the swinging of the tool 20.

[0117] The surgical system 10 also includes a navigation system 32. An example of the navigation system 32 is described in U.S. Patent No. 9,008,757, entitled "Navigation System Including Optical and Non-Optical Sensors," filed on September 24, 2013, which is incorporated herein by reference. The navigation system 32 tracks the movement of various objects. For example, these objects include instruments 14, tools 20, and anatomical structures (e.g., femur F and tibia T). The navigation system 32 tracks these objects to collect state information of each object relative to the (navigation) locator coordinate system LCLZ. As used herein, the state of an object includes, but is not limited to, data defining the position and / or orientation of the tracked object (e.g., within its coordinate system) or an equivalent / derivative of the position and / or orientation. For example, the state may be the posture of the object, and / or may include linear velocity data, angular velocity data, etc.

[0118] The navigation system 32 may include a cart assembly 34 that houses a navigation controller 36 and / or other types of control units. The navigation user interface UI is in operational communication with the navigation controller 36. The navigation user interface UI includes one or more displays 38. The navigation system 32 is capable of displaying a graphical representation of the relative state of the tracked object to the user using one or more displays 38. The navigation user interface UI also includes one or more input devices for inputting information into the navigation controller 36 or otherwise selecting / controlling certain aspects of the navigation controller 36. Such input devices include interactive touch screen displays. However, the input device may include any one or more of a button, a pointer, a foot switch, a keyboard, a mouse, a microphone (voice activation), a gesture control device, etc. In some examples, the user can use buttons located on the pointer to navigate through the icons and menus of the user interface UI to make selections to configure the surgical system 10 and / or advance the workflow.

[0119] The navigation system 32 also includes a localizer 44 coupled to the navigation controller 36. In one example, the localizer 44 is an optical localizer and includes a camera unit 46. The camera unit 46 has a housing 48 that houses one or more optical sensors 50. The localizer 44 may include its own localizer controller 49 and may also include a camera VC.

[0120] The navigation system 32 includes one or more trackers. In some examples, the trackers include a pointer tracker PT, a tool tracker 52, a first patient tracker 54, and a second patient tracker 56. Figure 1In the example shown, the tool tracker 52 is securely attached to the instrument 14, the first patient tracker 54 is securely adhered to the femur F of the patient 12, and the second patient tracker 56 is securely adhered to the tibia T of the patient 12. In this example, the patient trackers 54, 56 are securely adhered to the bone segments. The trackers 52, 54, 56 and the pointer tracker are registered to their respective objects (e.g., bones, tools) and the navigation system 32 manually, automatically, or a combination thereof. In some examples, the pointer tracker PT is securely adhered to the pointer 57 and is used to register the anatomical structure to one or more coordinate systems (including the localizer coordinate system LCLZ) and / or for other calibration and / or registration functions. In one example, the pointer 57 can be used to align the patient trackers 54, 56 to the bones to which the trackers 54, 56 are attached, respectively, and to align the tool tracker 52 (and optionally 53) to the tool mount 18, the tool 20, the tool platform 16, or a combination thereof. In some examples, the pointer tracker PT can be used to align the TCP (tool center point) of the instrument 14 to the tracker 52 relative to the tracker coordinate system. In this way, if the locator 44 is moved from one position to another, the registration of the instrument 14 is located relative to the tool tracker 52. However, other registration methods of the trackers 52, 54, 56 are contemplated and can be implemented in conjunction with or separately from the pointer tracker PT. Other tracker positions are also contemplated.

[0121] The tool tracker 52 may be adhered to any applicable component of the instrument 14, and in certain variations, may be attached to the tool platform 16, the tool mount 18, directly to the tool 20, or a combination thereof. The trackers 52, 54, 56, PT may be secured to their respective components in any applicable manner (e.g., by fasteners, clamps, etc.). For example, the trackers 52, 54, 56, PT may be rigidly fixed, flexibly connected (fiber optic), or not physically connected at all (ultrasound), as long as there is an applicable (supplementary) method to determine the relationship (measurement) of the corresponding tracker to the object of interest. Any one or more of the trackers 52, 54, 56, PT may include an active marker 58. The active marker 58 may include a light emitting diode (LED). Alternatively, the tracker 52, 54, 56, PT may have a passive marker (e.g., a reflector) that reflects light emitted from the camera unit 46. Printed markers or other applicable markers not specifically described herein may also be used.

[0122] For the purpose of tracking the object, a variety of coordinate systems can be used. For example, these coordinate systems may include a locator coordinate system LCLZ, a tool mount coordinate system TCS, a base coordinate system BCS, a coordinate system associated with each of the trackers 52, 54, 56, PT, one or more coordinate systems associated with the anatomical structure, one or more coordinate systems associated with preoperative and / or intraoperative images (e.g., CT images, MRI images, etc.) and / or models of anatomical structures (e.g., 2D or 3D models) - such as implant coordinate systems, and TCP (tool center point) coordinate systems. In some examples, the surgical system 10 does not rely on preoperative and / or intraoperative imaging to create a 2D or 3D model of the target bone. Instead, the surgical system can be used in an image-free system that uses a pointer tracker PT to register the target anatomical structure, capture various anatomical markers, which are then processed by the control system 60 to deform the nominal bone model to match the captured data. In other examples, preoperative and intraoperative imaging is used to image the target area of ​​the patient, and then the 2D and / or 3D images are converted into a 3D model of the target bone. It is also contemplated that the surgical system 10 can use a combination of imaging processes and imageless processes when creating a 3D model of the target surgical area. An exemplary system is described in U.S. Patent No. 8,617,174, which is incorporated herein by reference. Once a relationship is established between the various coordinate systems (e.g., via registration, calibration, geometric relationships, measurement, etc.), the coordinates in the various coordinate systems can be transformed to other coordinate systems using transformations.

[0123] In some examples, the TCP is a predetermined reference point or origin of the TCP coordinate system defined at the distal end of the tool 20. The geometry of the tool 20 can be defined relative to the TCP coordinate system and / or relative to the tool support coordinate system TCS. The tool 20 may include one or more geometric features, such as circumference, circumference, radius, diameter, width, length, height, volume, area, surface / plane, motion envelope range (along any one or more axes), etc., which are defined relative to the TCP coordinate system and / or relative to the tool support coordinate system TCS and stored in the non-volatile memory of the control board 31 in the control housing 29 of the instrument 14, the navigation system 32, the instrument controller 28, or a combination thereof. In one example, the tool center point (TCP) is a predetermined reference point and a corresponding coordinate system defined at the tool 20. The TCP has a known or calculated (i.e., not necessarily static) attitude relative to other coordinate systems. The TCP coordinate system includes an origin and a set of axes (e.g., x-axis, y-axis, z-axis) that define the attitude of the TCP. By tracking the TCP (or knowing the posture of the TCP), the system 10 can calculate the position and orientation of the instrument 14 based on the posture of the TCP and the known positional relationship between the TCP and the features of the instrument 14. In some examples, the tool 20 has a blade plane (e.g., for a saw blade), which will be described for convenience and ease of description, but the blade plane is not intended to limit the tool 20 to any particular form. In other examples, the tool 20 has axes, points, other primitives, grids, other 3D models, etc., which can be used to represent the tool 20 in a virtual way. The origin of the TCP coordinate system can be located at the center of the sphere of the drill bit 25 of the tool 20, the tip of the drill bit, or the distal end of the saw blade 27, so that the TCP coordinate system is tracked relative to the origin located on the distal tip of the tool 200. Alternatively, multiple tracking points can be used to track the TCP. The TCP can be defined in a variety of ways depending on the configuration of the tool 20. The instrument can use joint / motor encoders or any other non-encoder position sensing method, so the control system 60 can determine the posture and / or position of the TCP relative to the handheld portion 16 and the BCS. The tool support 18 can use joint measurements to determine the attitude of the TCP and / or can use technology to directly measure the attitude of the TCP. Control of the tool 20 is not limited to a center point. For example, any applicable primitive, grid, etc. can be used to represent the tool 20. It should be understood that, as an alternative, the TCP can be defined as a point rather than a coordinate system. Once the attitude of the saw blade or other tool has been determined, the TCP coordinate system allows any desired reference point or geometric aspect of the tool to be calculated.

[0124] The localizer 44 monitors the trackers 52, 54, 56, PT (e.g., their coordinate systems) to determine the state of each tracker 52, 54, 56, PT, which states correspond to the state of the objects respectively attached thereto. The localizer 44 can perform known techniques to determine the state of the trackers 52, 54, 56, PT and related objects (e.g., tools, patients, tool mounts, and handheld portions). The localizer 44 provides the states of the trackers 52, 54, 56, PT to the navigation controller 36. In some examples, the navigation controller 36 determines the states of the trackers 52, 54, 56, PT and transmits them to the instrument controller 28 or console.

[0125] The navigation controller 36 may include one or more computers, or any other applicable form of controller. The navigation controller 36 has a central processing unit (CPU) and / or other processors, memory and storage (not shown). The processor may be any type of processor, microprocessor or multiprocessor system. The navigation controller 36 is loaded with software. For example, the software converts the signal received from the locator 44 into data representing the position and / or orientation of the object being tracked. Additionally or alternatively, the navigation controller 36 may include one or more microcontrollers, field programmable gate arrays, systems on chips, discrete circuits and / or other applicable hardware, software or firmware capable of performing the functions described herein. The term processor is not intended to limit any embodiment to a single processor.

[0126] Although one example of a navigation system 32 is shown to determine an object state, the navigation system 32 may have any other applicable configuration for tracking the instrument 14, tool 20, and / or patient 12. In another example, the navigation system 32 and / or the localizer 44 are based on ultrasound. For example, the navigation system 32 may include an ultrasound imaging device coupled to a navigation controller 36. The ultrasound imaging device images any of the above-mentioned objects (e.g., the instrument 14, tool 20, and / or patient 12) and generates a status signal to the navigation controller 36 based on the ultrasound image. The ultrasound image may be 2D, 3D, or a combination of both. The navigation controller 36 may process the image in near real time to determine the state of the object. The ultrasound imaging device may have any applicable configuration and may be different from Figure 1 The camera unit 46 is shown.

[0127] In another example, the navigation system 32 and / or the locator 44 are radio frequency (RF) based. For example, the navigation system 32 may include an RF transceiver coupled to the navigation controller 36. The instrument 14, tool 20 and / or patient 12 may include an RF transmitter or transponder attached thereto. The RF transmitter or transponder may be passively or actively powered. The RF transceiver transmits RF tracking signals and generates a status signal to the navigation controller 36 based on the RF signals received from the RF transmitter. The navigation controller 36 may analyze the received RF signals to associate a relative status therewith. The RF signals may have any applicable frequency. The RF transceiver may be disposed in any applicable location to effectively use the RF signals to track objects. In addition, the RF transmitter or transponder may have any applicable structural configuration that may be compatible with the navigation controller 36. Figure 1 The trackers 52, 54, 56, PT shown are quite different.

[0128] In another example, the navigation system 32 and / or the locator 44 are electromagnetic based. For example, the navigation system 32 may include an EM transceiver coupled to the navigation controller 36. The instrument 14, tool 20, and / or patient 12 may include EM components attached thereto, such as any applicable magnetic tracker, electromagnetic tracker, inductive tracker, etc. The tracker may be passively or actively powered. The EM transceiver generates an EM field and generates a status signal to the navigation controller 36 based on the EM signal received from the tracker. The navigation controller 36 may analyze the received EM signal to associate a relative state therewith. Likewise, the structural configuration of this example of the navigation system 32 may be similar to that of the embodiment of the present invention. Figure 1 The configuration of the navigation system 32 shown is different.

[0129] The navigation system 32 may have any other suitable components or structures not specifically listed herein. In addition, any of the techniques, methods, and / or components described above with respect to the illustrated navigation system 32 may be implemented or provided for any other example of the navigation system 32 described herein. For example, the navigation system 32 may utilize pure inertial tracking or any combination of tracking technologies, and may additionally or alternatively include fiber-based tracking, machine vision tracking, and the like.

[0130] refer to FIG. 2A to FIG. 2F , showing the Figure 1A first configuration of a saw blade bracket 110 for use with a surgical instrument 14 of a surgical system of a surgical device. The sagittal saw blade bracket 110 may also be referred to as a sagittal saw blade bracket, a surgical saw blade bracket, or a bracket. The saw blade bracket 110 may include a guide rod 111. The guide rod 111 may include a plurality of plates 112, 114, 116, including a first plate 112, a second plate 114, and a third plate 116. The guide rod 111 may be configured such that the third plate 116 may be placed between the first plate 112 and the second plate 114. Thus, the first plate 112 may also be referred to as a bottom plate, the second plate 114 may be referred to as a top plate, and the third plate 116 may be referred to as an inner plate, a center plate, an inner member, a center layer, and / or a center member. Although the guide rod 111 is shown as including only three plates layered in a laminate-type arrangement, it is contemplated that the guide rod 111 may include any number of plates and / or layers.

[0131] In general, the plates are formed such that the guide rod 111 has a proximal portion 118 that forms the proximal ends 118A, 118B, 118C of the plates 112, 114, 116. The proximal portion 118 of the guide rod 111 can be configured to initially taper outward as you move distally along the guide rod 111, and then ultimately taper inward as you move further distally along the guide rod 111. The outward taper of the proximal portion 118 of the guide rod 111 can be configured as a mounting feature to aid in mounting and / or securing the saw blade bracket 110 to a surgical instrument 14, such as a surgical robot or a handheld instrument. For example, as Figure 2B and Figure 2C As shown, the opposing outer edges of the proximal portion 118 of the guide bar 111 may define a contact surface that contacts the tool mount 18. It is also contemplated that one or both of the proximal portions 118A, 118C of the first plate 112 and / or the second plate 114 may be shaped to define a recess 136, or include a recess or cutout 136 defined in an outer edge of the proximal portions 118A, 118C of the first plate 112 and / or the second plate 114 that exposes a portion 134 of the proximal portion 118B of the third plate 116. The recess 136 may be sized and / or shaped to expose only a small portion 134 of the third plate, such as a tab 134 of the third plate 116 that is exposed by the recess 136 defined in the proximal portion 118 of the first plate 112, as shown. Figure 2BAs shown. Alternatively, the recess 136 defined by the proximal portion of the first plate 112 can include an entire section of the proximal portion 118 of the first plate 112 that is removed to expose a distal ledge of the third plate along the proximal edge of the proximal portion of the guide rod 111. In either configuration, the portion 134 of the proximal end 18B of the third plate 116 exposed by the recess 136 defined in the outer edge of the first plate 112 or the second plate 114 can be configured as one of the portions 134 of the guide rod 111 that contacts and / or interacts with the mount 18 of the surgical instrument 14 for the purpose of mounting the saw blade bracket 110 and / or aligning it with the surgical instrument 14. This will be described in more detail below.

[0132] refer to Figure 2B , the opposite outer edges of the proximal portion 118 of the guide rod 111 may include a plurality of points 139, 141, 143 spaced apart along the perimeter edge of the proximal portion 118. The points 139, 141, 143 along the edge of the proximal portion 118 of the guide rod 111 may define a plurality of segments 140, 142 of the outer edge of the proximal portion 118 of the guide rod 111, each of which may have a different taper relative to a longitudinal axis L extending from the proximal end 118 of the guide rod 111 to its distal end 120. For example, the outer edge of the proximal portion 118 of the guide rod 111 may include a first segment 140 defined between a first point 139 and a second point 141. The first segment 140 may include a first outwardly directed taper such that the second point 141 is further away from the longitudinal axis L of the guide rod 111 than the first point 139. The outer edge of the proximal portion 118 of the guide rod 111 may include a second segment 142 defined between a second point 141 and a third point 143. The second segment 142 may include a second outwardly directed taper such that the third point 143 is further from the longitudinal axis L of the guide rod 111 than the second point 141. The proximal portion 118 of the guide rod 111 may be configured such that each of the first segment 140 and the second segment 142 has a different taper relative to the longitudinal axis L of the guide rod 111. The taper and / or orientation of each segment 140, 142 of the opposing outer edges of the proximal portion 118 of the guide rod 111 may correspond to and / or match the angle and / or taper of a surface of a bracket 68 of the mount 18 used to secure the saw blade bracket 110 to the surgical instrument 14, as will be described in more detail below.

[0133] The proximal portion 118 of the guide rod 111 may also include a proximal edge 144 oriented substantially perpendicular to the longitudinal axis of the guide rod 111. A recess 128 may be defined in the proximal edge 144 of the guide rod 111. The recess 128 may be formed in the proximal edge 144 of the guide rod 111 on one side or the other side of the longitudinal axis L of the guide rod 111. The recess 128 may serve as an alignment and / or positioning aid when manufacturing the guide rod 111 (including manufacturing the individual plates 112, 114, 116 that form the guide rod). It is also contemplated that the size and / or shape of the recess 128 formed in each of the first plate 112, the second plate 114, and / or the third plate 116 may vary. For example, as Figure 2B and Figure 2E As shown, the recesses 128 formed in the first plate 112 and the third plate 116 are cut deeper in the proximal portion of the respective plates and have a larger radius than the recesses 128 formed in the second plate 114. This can enable the manufacture of the guide rod 111 to distinguish the first plate 112 from the second plate 114, which may otherwise look very similar. The difference in size and / or shape of the recesses 128 formed in the first plate 112 and the second plate 114 can also help the user correctly install the guide rod to the mounting seat of the surgical instrument 14.

[0134] The front of the proximal part 118 of the guide rod 111 is the middle part and the distal part 120. Plates 112, 114, 116 are formed so that the opposite sides of the side of the formation middle part of the guide rod are roughly parallel. In some configurations, the opposite sides of the distal part 120 of the guide rod 111 can be tapered. As shown, the opposite edges 132, 199 of the distal part 120 of the guide rod 111 can be inclined inwardly towards the center of the plate 112, 114, 116. It can also be imagined that the opposite edges of the distal part 120 of the guide rod 111 can be roughly parallel to each other. The width of the middle part and / or the distal part 120 across the guide rod 111 can be less than the width of the widest point of the proximal part 118 between the opposite edges of the proximal part 118 of the guide rod 111.

[0135] The proximal portion 118 of each plate 112, 114, 116 may also include two laterally spaced openings 122, 188 (one identified). As shown, the first plate may include a pair of openings 122, and the second plate 114 may include a pair of openings 188. Depending on the shape of the plate 116, the third plate 116 may or may not define an opening. As shown, the third plate 116 is shaped to define channels 150A, 150B that cooperate with the openings 122 defined in the first plate 112 and the openings 188 defined in the second plate 114. Although the plates are shown as including a pair of openings 188 defined in the first plate 112 and a pair of openings 122 defined in the second plate 114 and a pair of channels 150A, 150B defined by the third plate 116, it is contemplated that the guide rod 111 may form a single opening 122, 188 in each plate, as well as more than two openings 122, 188 in each plate 112, 114, 116. The openings 122 , 188 may be formed to have a semi-elliptical shape. Each of the openings 122 , 188 has a curved portion toward the proximal end of the plates 112 , 114 , 116 and a straight portion toward the distal end of the guide rod 111 .

[0136] In front of the opening 122, 188, at least one of the plates 112, 114, 116 can be configured to define a keyhole-shaped opening 126, 152, 190. As shown, the second plate 114 can define a keyhole-shaped opening 126, and the first plate 112 and the third plate 116 define openings 190, 152 that cooperate with the keyhole-shaped opening 126 of the second plate 114. Although the figures only show the second plate 114 having a keyhole-shaped opening 126, it is contemplated that one, two, or all three of the plates 112, 114, 116 can define keyhole-shaped openings 126, 152, 190. For example, it is contemplated that the third plate 116 can define a keyhole-shaped opening 152, and the first plate 112 and the second plate 114 can define conventional openings 126, 190, such as openings in the shape of a square, a circle, an oval, etc. Reference Figure 2B , the keyhole-shaped opening 126 is shaped so that the widest portion of the width of the opening 126 can receive a fastening feature of a mount for the saw blade bracket 110. The openings 190, 126, 152 defined in the respective plates 112, 114, 116 can be centrally located between opposite edges of the guide bar 111 so that the openings 126, 152, 190 are disposed on a longitudinal axis L extending between the proximal end 118 and the distal end 120 of the guide bar 111 so that the longitudinal axis L bisects the guide bar 111. The keyhole-shaped opening 126 can also be shaped so that the narrower portion of the opening 126 is located distally forward of the wider portion of the width of the opening to allow the fastening feature 62 of the tool mount 18 to slide within the opening 126.

[0137] Additionally, at least one of the plates 112, 114, 116 of the guide bar 111 may include an opening 130 or hole configured to provide access to and / or expose a reference feature 156 disposed in one of the other plates 112, 116 in the guide bar 111. For example, Figure 2C and Figure 2F As shown, the guide bar 111 may include a first plate 112, a second plate 114, and a third plate 116. The first plate 112 or the second plate 114 may include an opening 130 to provide the pointer 57 with access to the reference feature 156 disposed on the third plate 116.

[0138] refer to Figure 2C , one configuration of the guide bar 111 can include a plurality of additional openings 130 formed in the first plate 112 and / or the second plate 114 that are configured to verify and / or register the saw blade carriage 110 within a known coordinate system of the surgical navigation system 32. For example, at least one of the first plate 112 and / or the second plate 114 can define at least three openings 130A, 130B, 130C. The openings 130A, 130B, 130C defined in the first plate 112 and / or the second plate 114 can be configured to provide access to reference features 156A, 156B, 156C corresponding to each of the openings 130A, 130B, 130C and defined on the third plate 116. The reference feature 156 can include a portion of the surface of the third plate 116 exposed by the openings 130A, 130B, 130C. The openings 130A, 130B, 130C may also be used to define a contact point on the third plate 116 to verify the attitude of the saw blade bracket 110 and / or to register the saw blade bracket 110 with the navigation system 32. It is contemplated that the openings 130A, 130B, 130C may include a circular, square, rectangular, or other similar polygonal shaped hole that provides access to a reference feature 156 located on the surface of the third plate 116. Although not shown in the drawings, the reference feature 156 may also include a recess, indentation, pit, logo, or similar marking defined on the third plate 116 and accessible through an opening 130A, 130B, 130C defined in one of the first plate 112 and the second plate 114. This may include a pit located on the surface of the third plate that is accessible through an opening 130A, 130B, 130C in one of the first plate 112 and the second plate 114. It is further contemplated that the reference feature 156 may include a marking, such as a laser marking (without any physical recesses, pits, or holes). The marking may be implemented as an etched, colored, engraved, or similar optical marking.

[0139] Typically, the guide bar 111 may include three or more openings 130A, 130B, 130C that correspond to three or more reference features 156A, 156B, 156C to enable the navigation system 32 to define the plane of the surgical saw blade bracket 110. However, additional openings 130A, 130B, 130C and corresponding reference features 156A, 156B, 156C may be defined on the guide bar 111. Furthermore, the openings 130A, 130B, 130C and corresponding reference features 156A, 156B, 156C are spaced apart from one another such that a straight line cannot be drawn that intersects all of the reference features 156A, 156B, and 156C.

[0140] Reference features 156A, 156B, 156C and thus openings 130A, 130B, 130C may be arranged on guide bar 111 in positions where both the specific positions of reference features 156A, 156B, and 156C on guide bar 111 are known and the position of each reference feature 156A, 156B, 156C relative to each of the other reference features 156A, 156B, 156C is known. The known positions of reference features 156A, 156B, 156C on guide bar 111 will be used to define the position of guide bar 111 and / or surgical saw blade carriage 110 within the known coordinate system of navigation system 32. As part of the registration process, the navigation system 32 will utilize the known positions of reference features 156A, 156B, 156C to calculate the expected position of each reference feature 156C, 156B, 156C based on the geometric characteristics and mechanical stacking of each of the surgical instrument 14 and the surgical saw blade holder 110, which will be described in more detail below.

[0141] like Figure 2FAs seen in the figure, the third plate 116 is formed to have a proximal portion 118B of the plate. A pair of laterally spaced apart tines 146 can extend forward from the proximal portion 118B of the third plate 116. The tines 146 can be referred to as outer tines. The outer surface of the tines 146 is the outer surface of the multiple segments of the third plate 116 that form the outer surface of the guide rod 111. Therefore, the outer tines 146 have proximal segments extending forward from the proximal portion 118B, and as you move distally along the third plate 116, these outer tines 146 first tilt outward and then inward. The outer tines 146 are symmetrically positioned relative to the longitudinal axis L of the guide rod 111. The outer tines 146 are also shaped to be mirror images of each other about the longitudinal axis L. In addition, the outer tines 146 can be configured to couple the first plate 112, the second plate 114, and the third plate 116 together to form the guide rod 111. For example, the first plate 112 and the second plate 114 can be welded or similarly coupled to the outer tines 146 of the third plate 116 to form the guide rod 111. Alternatively, it is also contemplated that the first plate 112 and the second plate 114 can be welded or similarly coupled to the inner tines 148 of the third plate 116 to form the guide rod 111. By welding or similarly coupling the first plate 112 and the second plate 114 to the inner tines 148 of the third plate 116, any interference, unintended warping, or similar disturbance of the edge of the proximal portion 118 of the third plate 16 can be avoided, which can be used to align and / or orient the guide rod 111 with the surgical instrument 14.

[0142] Near the distal end of each tine 146, each tine 146 is formed with a lobe 160 that extends inwardly toward the longitudinal axis L of the guide rod 111. As one moves from proximally to distally along the tine 146, the associated lobe 160 first bends inwardly toward the longitudinal axis L of the guide rod 111 and then bends outwardly.

[0143] The third plate 116 may also include a third tine 148 (i.e., an inner tine) disposed between the outer tine 146 and centered on the longitudinal axis L of the guide rod 111. As described above, the inner tine 148 may be formed to define an opening 152, which may be a keyhole-shaped opening 152. The shape of the inner tine 148 may be designed so that the opening 152 is identical in shape to the opening 190 of the first plate 112 and the opening 126 of the second plate 114, and the opening 152 is positioned to align with the opening 190 of the first plate 112 and the opening 126 of the second plate 114, respectively. The inner tine 148 has a constant width except for the distal end of the tine. At the distal-most end, the inner tine 148 may include a head 158 having a distally directed surface that is curved and configured to define a pivot surface. Although not shown, it is also contemplated that the head 158 may define a concave surface configured to receive a rocker or curved surface that may pivot within the concave surface defined by the head 158. The head 158 may include a center that defines a radius of a distally directed surface that is curved to define the pivot surface.

[0144] Although the drawings show that the inner tines 148 are disposed between the outer tines 146, it is contemplated that the third plate 116 may not be formed with the inner tines 148 and include only two outer tines 146 spaced apart from each other. In this configuration, the pivot pin may be coupled near the saw blade head. In other words, although the third plate is shown as having three tines formed as a single component, it is contemplated that the three tines may be formed separately and secured between the first and second plates.

[0145] The outer tines 146 are spaced apart from the inner tines 148 so that the third plate 116 defines a pair of elongated closed-end cutouts 150A, 150B between each outer tines 146 and inner tines 148. The proximal ends of the cutouts 150A, 150B are the closed ends of the cutouts. When the bracket 110 is assembled, each cutout 150A, 150B is disposed above a single one of the openings 122 of the first plate 112 and the openings 188 in the second plate 114, respectively. The third plate 116 is further formed so that the proximal end of each cutout 150A, 150B has a shape substantially the same as the shape of the openings 122 in the first plate 112 and the openings 188 in the second plate 114. Therefore, the lateral width of the proximal end of each cutout 150A, 150B is greater than the width of the cutout 150A, 150B at the distal front of the proximal portion 118.

[0146] Although the third plate 116 is generally depicted in the figures as being formed as a single separate or unitary plate, it is contemplated that the third plate 116 can be configured as a plurality of separate components that are arranged to form the above-mentioned features and / or portions of the third plate 116. For example, the proximal portion 118 of the third plate 116 can be formed as a single piece with the outer tines 146, while the inner tines 148 can be separate components. Alternatively, the inner tines 148 can be omitted. In another exemplary configuration, the proximal portion 118 of the third plate 116, the outer tines 146, and the inner tines 148 can all be formed as separate components.

[0147] refer to Figure 2A and Figure 2F , it can be observed that the first plate 112 is formed to have an outer perimeter that is substantially the same as the outer perimeter of the second plate 114. However, it is also contemplated that one of the first plate 112 and the second plate 114 may be longer / shorter and / or narrower / wider than the other plate. For example, the second plate 114 may be configured such that the outer perimeter is narrower than the outer perimeter of the first plate 112, i.e., the perimeter edge is closer to the longitudinal axis L. Located in front of the proximal portion 118 of the first plate 112 and the second plate 114 is the distal portion 120. The distal portions of the first plate 112 and the second plate 114 are formed to have two openings 124, 196. The shapes of the openings 124, 196 are identical, and the openings 124, 196 are positioned such that the opening 124 of the first plate 112 is aligned with the opening 196 of the second plate 114.

[0148] The saw blade bracket 110 may further include a saw blade 170 disposed between the first plate 112 and the second plate 114 at the distal end of the saw guide rod 111. The saw blade 170 is formed to have a saw blade body 172 and a saw blade head 174. The saw blade 170 is formed such that the thickness of the saw blade body is not greater than the thickness of the third plate 116. Figure 2F As seen in FIG. 1 , the blade body 172 of the saw blade 170 is generally rectangular in shape. However, it is also contemplated that the peripheral edge of the blade body 172 may be tapered and / or curved. The taper and / or curvature may match the taper or curvature of the protrusions 160 of the outer tines 146 of the inner plate 116. The shape of the blade body may be configured to allow the blade body 172 to pivot about the heads 158 of the inner tines 148, thereby swinging between the protrusions 160 of the outer tines 146.

[0149] When the saw blade 170 is in a central position within the guide bar 111, the main axis of the saw blade body 172 is colinear with the longitudinal axis L of the guide bar 111. The saw blade body 172 can be formed to have two legs 184, one of which is identified. The thickness of the legs 184 is the same as the thickness of the saw blade body 172. Each leg 184 extends to the open end of the adjacent cutout 150A, 150B located inside the inner cusp 148. Between the legs 184, the saw blade body 172 is formed to have a curved proximally directed face 180. The saw blade body 172 is formed so that the face 180 can rest on and pivot about the head 158 integral with the inner cusp 148. Although the drawings show the third plate with internal teeth 148 defining a head 158 about which the saw blade can pivot, it is also contemplated that the guide bar can be configured with a pin disposed between the first plate 112 and the second plate 114 and the saw blade 170 is configured to pivot about the pin. The saw blade foot 184 and the saw blade body 172 are sometimes referred to as the base of the saw blade 170.

[0150] The distal end of the saw blade body 172 extends toward the distal side of the guide rod 111, so that the saw blade head 174 extends toward the front of the distal end of the guide rod 111. The saw blade head 174 is formed with a plurality of teeth 176, 178. Figure 2D , the saw blade 170 is further formed such that the thickness of the saw blade head 174 is greater than the thickness of the saw blade body 172. More specifically, the saw blade head 174 is formed such that its thickness is equal to or greater than the thickness of the guide rod 111 so that the kerf formed by the cutting action of the saw blade 170 is sufficient to receive the guide rod 111.

[0151] refer to FIG. 2A to FIG. 2C , the saw blade head 174 may include two types of teeth - a base tooth 178 and one or more guide teeth 176. For example, Figure 2C As shown, the saw blade head 174 may include two guide teeth 176. However, it is contemplated that the saw blade head 174 may include a single guide tooth or more than two guide teeth. The guide tooth 176 may be disposed near the center of the distal surface of the saw blade head 174. In addition, the guide tooth 176 may be configured to extend distally beyond an adjacent base tooth 178 of the saw blade head 174 by a distance. In operation, with the guide tooth 176 extending distally beyond the adjacent base tooth 178, the guide tooth 176 is configured to swing along a first arc as the adjacent base tooth 178 swings around a second arc, such that the first arc is located distal to the second arc. An exemplary surgical saw blade bracket including guide teeth is disclosed in International Patent Application No. PCT / US2021 / 064328 filed on December 20, 2021, the entire contents of which are incorporated herein by reference.

[0152] Optionally, the saw blade head 174 may also include a cutout or hole 175. As shown, the saw blade head is formed with a single cutout 175. However, it is contemplated that the saw blade head 174 may be formed with any number of cutouts or holes 175. The cutout 175 may be formed in a teardrop shape or generally circular. The cutout 175 may be configured to allow for removal of debris while cutting. It is also contemplated that the hole 175 may be configured to provide cooling for the saw blade 70 and / or the saw blade head 74 while cutting. In addition, the cutout 175 may be configured to assist in manufacturing the saw blade 170. For example, when manufacturing the saw blade 170, the cutout 175 may be machined and / or formed in a blank of material that will form the saw blade. The cutout 175 may then be used as a reference point during the manufacturing process so that the saw blade body 172, the saw blade head 174, and / or the teeth 176, 178 may be machined / formed with reference to the cutout 175. For example, the manufacturing process may be arranged such that the hole 175 is identifiable and a machining tool is programmed to cut and / or grind a blank of material at a location based on the hole 175 to form the teeth.

[0153] A drive link 162 is provided in each of the cutouts 150A, 150B located inside the guide bar 111. Each drive link 162 is in the form of an elongated flat metal strip. The drive link 162 is formed so that there is a foot 164 at the proximal end of each link. Each foot 164 is formed with a centrally located through hole 166, one of the openings being identified. The size of the through hole 166 is designed so that the associated drive link foot 164 can be mounted above the saw head drive pin. The shape of each drive link 162 is designed so that the thickness of the foot 164 is greater than the thickness of the metal strip forming the body of the link 162. The thickness of the foot 164 is generally not greater than the thickness of the guide bar 111. When the bracket 110 is assembled, the foot 164 is generally placed in the proximal end of the associated cutout 150A, 150B. Portions of the legs 164 that protrude outwardly from the body of each link 162 are positioned within the openings 122 of the first plate 112 and / or within the openings 188 of the second plate 114 .

[0154] The drive links 162 may also include two fingers 168 extending distally and forwardly from the distal end of the body of each drive link 162, one of which is identified. The fingers 168 overlap each other and are spaced apart from each other. More specifically, the fingers 168 are spaced apart from each other by a sufficient distance so that the blade foot 184 can be positioned between each pair of fingers. Each finger 168 is formed with an aperture 182. The apertures 182 of each pair of fingers 168 are in registration with each other.

[0155] refer to Figure 2B and Figure 2F, the distal portion of the guide rod 111 may include a pair of generally oval openings 198 in the first plate 112. Although two openings 198 are shown in the figure, it is contemplated that the guide rod 111 can be configured with only a single opening or with more than two openings. In addition, although the openings are shown as being defined in the first plate 112, it is contemplated that similar openings can also be defined in the second plate 114. The openings 198 may include a curve and / or bend extending longitudinally along the length of the distal portion 120 of the first plate 112. The openings can be configured to help remove debris that may be stuck between the first plate 112 and the second plate 114 when using the saw blade bracket 110 to cut biological tissue.

[0156] The distal portion 120 of the guide rod 111 may also be formed to define a cutout or notch 138 between the first plate 112 and the second plate 114. Figure 2A As shown, the outer tines 146 of the inner plate 116 are formed so that the most distal points of the protrusions 160 of the outer tines 146 are positioned proximal to the most distal edges of the first plate 112 and the second plate 114. This arrangement defines a cutout 138 along the side edge of the guide bar 111, which can help remove debris that may be caught between the first plate 112 and the second plate 114 when the saw blade bracket 110 is used to cut biological tissue. The cutout 138 along the side edge of the guide bar 111 also helps increase the range of motion of the saw blade 170 when the saw blade 170 is pivoted. By shortening the length of the outer tines 146, increased clearance can be provided, thereby allowing the saw blade to pivot further and thereby increasing the distance that the saw blade head 174 can swing.

[0157] refer to Figure 3A 3G, a second configuration of the saw blade carriage 210 is shown. It should be appreciated that components and / or features of the second configuration of the saw blade carriage 210 including like base reference numerals increased by one hundred (ie, 110 and 210) may operate in a similar or identical manner as described above.

[0158] Similar to the above, the second configuration of the saw blade bracket 210 may include a guide bar 211, which includes a plurality of plates 212, 214, 216, including a first plate 212, a second plate 214, and a third plate 216. The guide bar 211 may be configured so that the third plate 216 may be disposed between the first plate 212 and the second plate 214. The first plate 212, the second plate 214, and the third plate 216 are constructed in the same or similar manner as the above-described saw blade bracket 110. However, Figure 3A The second configuration of the saw blade carriage 210 shown in FIG. 3G is configured with an alternative configuration of the reference features 256 disposed on the guide bar.

[0159] refer to Figure 3A3G, there is shown the saw blade bracket 210 described above, which includes an alternative configuration of reference features 256A, 256B, 256C, 256D. As described above, the saw blade bracket 210 may include a plurality of reference features 256A, 256B, 256C, 256D. Figure 3B , Figure 3E and Figure 3F A surgical saw blade bracket 210 is shown that includes an exemplary arrangement of reference features 256A, 256B, 256C, 256D. Although reference features 256A, 256B, 256C, 256D are shown as being disposed on the second plate 214, it is also contemplated that multiple reference features 256A, 256B, 256C, 256D may be disposed on the first plate 212 or the second plate 214. Furthermore, reference features 256A, 256B, 256C, 256D of a given saw blade bracket may be placed on any combination of the first plate 212, the second plate 214, and / or the third plate 216.

[0160] As described above, reference features 256A, 256B, 256C, 256D may be formed as holes, dimples, engravings, color markings, or similar markings or indicia. Figure 3E As shown, the reference features 256A, 256B, 256C, 256D may include one or more marks or similar visual indicia disposed on the second plate 214. The reference features 256A, 256B, 256C, 256D may be defined as marks disposed on the surface of the second plate 214, such as Figure 3E The crosshair markings shown. Figure 3E The examples of reference features 256A, 256B, 256C, 256D shown in the figure are represented by crosshair marks, but other shapes and / or forms of visual marks are also contemplated. For example, the reference features 256A, 256B, 256C, 256D can be defined by circular marks, triangular marks, X-shaped marks, etc. The marks representing the reference features 256A, 256B, 256C, 256D can be formed on the guide rod 211 via laser marking, etching, spraying, engraving or similar marking processes.

[0161] Alternatively, the reference features 256A, 256B, 256C, 256D may be defined as dimples or recesses formed in the surface of the second plate 214. In another configuration, the reference features 256A, 256B, 256C, 256D may be defined by a combination of the above features. For example, the reference features 256A, 256B, 256C, 256D may include a dimple formed on the surface of the second plate 214 and a mark applied to the dimple to provide a visual identifier within the dimple to define the reference features 256A, 256B, 256C, 256D.

[0162] Reference features 256A, 256B, 256C, 256D may be disposed on guide bar 211 in positions where both the specific positions of reference features 256B, 256, 256C, 256D on guide bar 311 are known and the positions of each of reference features 256, 256B, 256C, 256D relative to each of the other reference features are known. The known positions of reference features 256A, 256B, 256C, 256D on guide bar 211 will be used to define the position and / or orientation of guide bar 211 and / or surgical saw blade carriage 210 within the known coordinate system of navigation system 32. As part of the registration process, the navigation system 32 will utilize the known positions of reference features 256A, 256B, 256C, 256D to calculate the expected position of each of reference features 256A, 256B, 256C, 256D based on the geometric characteristics and mechanical stacking of each of the surgical instrument 14 and the surgical saw blade bracket 210, which will be described in more detail below.

[0163] refer to Figure 3E , an alternative configuration of the reference feature 356 is shown. The reference feature 356 may include a visual mark disposed on a surface of at least one of the plates 112, 114, 116 of the guide bar 111. For example, the reference feature 356 may include a visual mark disposed on the second plate 114 of the guide bar 111. The reference feature 356 may include a line disposed on the guide bar 111 that can be traced. The line may indicate the location of a contour of a portion of the tool mount 18. The pointer 57 may be used to trace the line representing the reference feature 356 to define a plane of the surgical saw blade bracket 110 within the known coordinate system of the navigation system 32. Although in Figure 3E An exemplary configuration of a path to be tracked by the pointer 57 is shown using dashed lines, but it is also contemplated that the reference feature 356 may not physically and / or visually appear on one of the plates 112, 114, 116 of the guide bar 111. For example, as will be described in more detail below, the process of registering the surgical saw blade carriage 110 within the known coordinate system of the navigation system 32 may include tracing a path / line along the contour of the tool mount 18 on the guide bar 111 (similar to the path shown via dashed lines) without defining visual or physical reference features in the guide bar 111. The method may also include tracking a different portion of the tool mount than that shown.

[0164] refer to FIG. 4A to FIG. 5B , shows a surgical saw blade holder 110 as described above, which includes an alternative configuration of saw blade heads 174A, 174B. Similar to the saw blade head 174 described above, Figure 4A The saw blade head 174A shown in FIG. Figure 4BEach of the configurations of the saw blade heads 174B shown in the drawings includes two types of teeth - a base tooth 178 and one or more guide teeth 176. Optionally, each of the configurations of the saw blade heads 174A, 174B may also include a cutout or hole 175. As shown, the saw blade heads 174A, 174B are formed with a single cutout 175, which is formed to be generally teardrop-shaped. As described above, the saw blade heads 174A, 174B may be formed with additional cutouts or holes 175, and the cutouts or holes 175 may be formed into alternative shapes.

[0165] like Figure 4A and Figure 5A As shown, the first configuration of the saw blade head 174A may include a first width D3. Figure 4B and Figure 5B As shown, the second configuration of the saw blade head 174B may include a second width D4. The saw blade heads 174A, 174B may be configured such that the first width D3 of the first configuration of the saw blade head 174A is longer (wider) than the second width D4 of the second configuration of the saw blade head 174B. Although each saw blade head 174A, 174B may generally include a similar shape, the first configuration of the saw blade head 174A and the second configuration of the saw blade head 174B may be more suitable for different surgical procedures. For example, the narrower second configuration of the saw blade head 174B may be more suitable for making smaller cuts and / or cutting in a narrower space. The narrower second configuration of the saw blade head 174B may also be more suitable for making more precise cuts. Alternatively, the wider first configuration of the saw blade head 174A may be more suitable for making larger cuts and / or cutting denser materials or biological tissues.

[0166] Likewise, not all configurations of saw blade brackets 110, 210 have all described features. For example, it is not required that all configurations of saw blade brackets 110, 210 include outer tines extending in front of the inner tines. In another example, it may not be required that all outer tines include inwardly directed protrusions.

[0167] Likewise, in some variations of the saw blade bracket 110, 210, the inner plate 116, 216 may be formed in whole or in part from one or both of the first plate 112, 212 and the second plate 114, 214. Thus, in these variations of the saw blade bracket 110, 210, once the blank is formed, the blank is machined to define a cutout in which the drive rod is seated and which defines the perimeter of the tines. Alternatively, the opening of the guide rod and the cutout defining portion may be formed by molding.

[0168] In some variations of the saw blade bracket 110, 210, only a single drive link may be required to pivot the saw blade head. In some variations of the saw blade bracket 110, 210, one or more drive links may not be parallel to the longitudinal axis through the bracket. Thus, in these variations of the saw blade bracket 110, 210, the openings in the guide bar (through which elements of the one or more drive links are disposed) may also be aligned not in line, but parallel to the longitudinal axis through the bracket.

[0169] In variations of the saw blade bracket 110, 210, in which at least one of the drive links and the saw blade is provided with complementary teeth, the guide bar may have a different structure than that already described. Specifically, the guide bar may be formed so that the saw blade head is not an integral part of one of the plates forming the bar. In these variations of the saw blade bracket 110, 210, the structure about which the saw blade pivots may be a pin mounted to or integral with at least one of the plates forming the bar.

[0170] In some variations of saw blade brackets 110, 210, two or all three plates forming the guide bar may not be three distinct plates that are welded or otherwise fixed together. In these alternative variations of saw blade brackets 110, 210, multiple plates are machined or molded together as a single unit.

[0171] refer to FIG. 6A to FIG. 6D , shows the configuration of the surgical instrument 14 and the pointer 57 of the above-mentioned surgical system 10. The surgical instrument 14 includes a surgical saw blade bracket 110 that is detachably connected to the tool platform 16 via the tool mount 18. The surgical instrument 14 may also include a tracker 52, which is coupled to and associated with the tool platform 16 of the surgical instrument 14, and the tracker is configured to allow the navigation system 32 to determine the posture of the tool platform 16 in a known coordinate system.

[0172] The tool platform 16 may also include one or more markers 60A, 60B, 60C, 60D. The markers 60A, 60B, 60C, 60D may also be referred to as fiducial features or reference features. The markers 60A, 60B, 60C, 60D may be configured to align the pose of the tool platform 16 within a known coordinate system defined by the navigation system 32 using a tracked pointer 57 that touches one or more of the markers 60A, 60B, 60C, 60D while tracking the tracker and pointer tracker PT of the surgical instrument 52.

[0173] The surgical saw blade bracket 110, 210 is detachably coupled to the tool platform 16 of the surgical instrument 14. The surgical saw blade bracket 110, 210 includes a guide bar 111, 211 composed of a plurality of plates 112, 114, 116, 212, 214, 216. For example, as described above, the guide bar 111, 211 may include three plates 112, 114, 116, 212, 214, 216 that are stacked on top of each other to form the guide bar 111, 211.

[0174] The plates 112, 114, 116, 212, 214, 216 of the guide rods 111, 211 may also include and / or define one or more reference features 156, 256. The reference features 156, 256 may be used as contact points for the pointer 57 in order to register the surgical saw blade bracket 110, 210 within the known coordinate system of the navigation system 32. For example, the guide rods 111, 211 may include and / or define three reference features 156, 256 that, when contacted by the pointer 57, may be used to define the plane of the surgical saw blade bracket 110, 210 within the known coordinate system of the navigation system 32.

[0175] As described above, the surgical system may further include a pointer 57 for registering the posture of the tool platform 16 in the known coordinate system of the navigation system 32 and / or the posture of the surgical saw blade bracket 110, 210 in the known coordinate system of the navigation system 32. The pointer 57 may include a pointer tracker PT that can be recognized and tracked by the localizer 44 of the navigation system 32.

[0176] In operation, the distal end 59 of the pointer 57 may be brought into contact with the markings 60A, 60B, 60C, 60D of the tool platform 16 and / or the reference features 156, 256 of the surgical saw blade bracket 110, 210 to identify the position of the tool platform 16 and / or the surgical saw blade bracket 110, 210 relative to the tracker 52 of the surgical instrument 14 within the known coordinate system of the navigation system 32. This may be accomplished by a locator that tracks the pose of the pointer 57 as the pointer is moved from each marking 60A, 60B, 60C, 60D of the tool platform 16 and / or the reference features 156, 256 of the surgical saw blade bracket 110, 210 to a subsequent marking 60A, 60B, 60C, 60D and / or reference features 156, 256.

[0177] refer to Fig. 6A and Figure 6B, the distal end 59 of the pointer 57 can be formed as a sphere or ball. As described above, the reference features 156, 256 of the surgical saw blade bracket 110, 210 can be defined as recesses, indentations, pits, marks, or similar markings on the guide rods 111, 211. In contrast to physical markings such as recesses or pits, the reference features 156, 256 can also be defined by markings, such as laser markings or similar visual markings on the guide rods 111, 211.

[0178] The distal end 59 of the pointer 57 may be sized and / or shaped to fit within the opening 130 defined in the first plate 112 or the second plate 114 of the guide bar 111 such that the distal end 59 of the pointer 57 is not inhibited and / or blocked from contacting a reference feature disposed on the third plate 116. For example, Figure 6B As shown, the distal end includes a spherical end having a first diameter D1. The opening may include a second dimension D2. The second dimension D2 may define the diameter of a circular or elliptical opening. Alternatively, the second dimension D2 may include the side length of a triangle and / or the width of a square or rectangle. The combination of the distal end 59 of the pointer 57 and the opening 130 may be configured such that the minimum second dimension D2 of the opening 130 is greater than the maximum first diameter D1 of the distal end 59. The advantage of using surgical saw blade brackets 110, 210 that define reference features 156, 256, 356 without using pits or making similar physical changes to guide rods 111, 211 is that the manufacturing process is simplified. In this case, only the opening 130 needs to be machined in the second plate 114, 214, and there is no need to further machine pits in the third plate 116, 216. Machining pits suitable for navigation verification and registration is an expensive and complex process. The spherical tip on the distal end 59 of the pointer 57 abuts the flat portion of the third plate 114, 214. This abutment serves to define the plane of the third plate 116, 216, and in turn the plane of the surgical saw blade bracket 110, 210. Because there is a hole in the second plate 114, 214 to provide access to the third plate 116, 216, accuracy is further improved because the opening 130 serves as both a physical guide and a visual guide to ensure that the user places the distal end 59 of the pointer 57 in the appropriate position on the third plate 116, 216. Because the opening 130 in the outer plate 112, 114, 212, 214 is a physical guide, it provides an excellent user experience, which builds confidence in the registration process. As described above, this registration feature is sufficient because the robotic system primarily requires accuracy in the position and / or orientation of the saw blade in one plane (e.g., the y-plane in the primary example).

[0179] refer to Figure 6C and Fig.6D, shows one of the alternative configurations of the reference feature 356 for the surgical saw blade bracket 110, 210 described above. The reference feature 356 can also be defined by a marking, such as a laser mark or similar visual marking on the guide rod 111. Figure 6C and Fig.6D As shown, an alternative configuration of the reference feature 356 may include a visual mark disposed on a surface of at least one of the plates 112, 114, 116 of the guide bar 111. For example, the reference feature may include a visual mark disposed on the second plate 114 of the guide bar 111. The reference feature 356 may include a line that tracks and / or outlines a portion of the tool mount 18 to be tracked by the pointer 57 to define a plane of the surgical saw blade bracket 110, 210 within the known coordinate system of the navigation system 32. Although an exemplary configuration of a path to be tracked by the distal end 59 of the pointer 57 is shown in the figure using dashed lines, it is also contemplated that the reference feature 356 may not physically and / or visually appear on one of the plates 112, 114, 116 of the guide bar 111. For example, the process of aligning the surgical saw blade bracket 110, 210 within the known coordinate system of the navigation system 32 can include tracing a path along the intersection of the tool mount 18 and the guide rod 111 (similar to the path shown via the dashed line) without defining visual or physical reference features on the guide rod 111.

[0180] refer to FIG. 7A to FIG. 7D , shows a configuration for securing any of the above-described surgical saw blade brackets 110, 210 to the tool mount 18 of the surgical instrument 14. The mount 18 may include a coupling rod 62 configured to removably secure the saw blade bracket 110, 210 to the mount 18. The coupling rod 62 may interact with the openings 126, 152, 190, 226, 252, 290 of the saw blade bracket 110, 210, such as the keyhole-shaped opening 126, 226, to removably couple the saw blade bracket 110, 210 to the mount 18. The coupling rod 62 may include a head configured to fit through a larger portion of the keyhole-shaped opening 126, 226, and a shaft of the coupling rod 62 may be configured to fit within a smaller portion of the keyhole-shaped opening 126, 226 after the head has been inserted through the larger portion. The larger portion may then be positioned over the smaller portion and configured to removably secure the saw blade bracket 110, 210 to the mount 18. Exemplary configurations of mounts for saw blade brackets are disclosed in International Publication No. WO 2007 / 030793 and U.S. Pat. No. 8,696,673, both of which are incorporated herein in their entirety.

[0181] The coupling lever 62 can be controlled by a coupling lever 64, which is configured to manipulate the coupling lever 62 between a locked state and an unlocked state. For example, the coupling lever 64 can be rotated in one direction to retract the coupling lever 62 to a locked state, which is configured to secure the saw blade bracket 110, 210 to the mounting seat 18. Alternatively, the coupling lever 64 can be rotated in the opposite direction to extend or advance the coupling lever 62 to an unlocked state, which is configured to allow the saw blade bracket 110, 210 to be installed and / or the saw blade bracket 110, 210 to be removed from the mounting seat 18.

[0182] The mount 18 may also include a lateral mounting surface 66 configured to receive the saw blade bracket 110, 210. When the saw blade bracket 110, 210 is coupled to the mount, a bottom surface of the proximal portion 118 of the first plate 112, 212 may be positioned adjacent the mounting surface 66. When the coupling rod 62 is in the locked state, the coupling rod 62 may be configured to press the saw blade bracket 110, 210 against the mounting surface 66 to hold the saw blade bracket 110, 210 in place.

[0183] The mount 18 may also include a drive bar 76 for actuating the saw blade 170, 270 of the saw blade bracket 110, 210. The drive bar 76 may include at least one drive pin 78 configured to be seated in a hole 166, 266 formed in the drive link 162, 262. Although a pair of drive pins 78 are shown, it is contemplated that the mount 18 may be configured to actuate the saw blade 170, 270 of the saw blade bracket 110, 210 using only a single drive pin 78. In operation, the drive bar 76 may be swung back and forth and / or partially rotated back and forth to reciprocate the drive pin 78 and, in turn, the drive link 162, 262.

[0184] The drive rod 76 may also include a biasing member (not shown) configured to urge the drive rod 76 in a proximal direction toward the locked position. The force of the biasing member may be overcome by pulling the drive rod 76 in a distal direction toward the loading position. In operation, while the drive rod 76 is in the locked position, the holes 166, 266 formed in the drive links 162, 262 may be positioned above the drive pin 78. The saw blade bracket 110, 210 may then be pulled distally (forward) to overcome the force of the biasing member and urge the drive rod toward the loading position, in which the saw blade bracket 110, 210 may be mounted to the mounting base 18. Once the saw blade bracket 110, 210 is loaded, that is, the connecting rod is inserted through the keyhole-shaped opening 126, 226, and the proximal portion 118, 218 of the second plate 114, 214 is adjacent to the mounting surface 66, the saw blade bracket 110, 210 can be released and the biasing member will move the saw blade bracket 110, 210 proximally until it has reached the locked position.

[0185] The mount 18 may also include brackets 68 positioned on opposite sides of the lateral mounting surface 66. The brackets 68 may extend vertically (i.e., upwardly) from the lateral mounting surface 66 and include tabs 74 that are configured to extend at least partially over a portion of a side surface of one of the plates 112, 114, 116, 212, 214, 216 of the guide bars 111, 211 when the saw blade bracket 110, 210 is coupled to the mount 18. For example, Fig. 7A As shown, the proximal portion 118 of the guide rod 111, 211 can be configured such that one of the first plate 112 and the second plate 114 defines a recess 136 configured to expose a portion 134 of the third plate 116. The recess 136 in one of the first plate 112 and the second plate 114 allows the portion 134 of the third plate 116 to extend beyond the peripheral edge 136 of the corresponding first plate 112 or second plate 114.

[0186] The purpose of pulling the saw blade bracket 110, 210 distally (forwardly) to load the saw blade bracket 110, 210 onto the mount 18 is to allow the proximal portion 118, 218 of the saw blade bracket 110, 210 to clear the tab 74 of the bracket 68. Then, when the biasing member moves the saw blade bracket 110, 210 proximally, a portion of the proximal portion 118, 218 of the saw blade bracket 110, 210 is disposed between the tab 74 and the lateral mounting surface 66 of the mount 18.

[0187] The bracket 68 may also define interior vertical surfaces 70, 72. The interior vertical surfaces 70, 72 may be oriented to provide vertical surfaces that are outwardly inclined relative to the longitudinal axis of the lateral mounting surface 66. The tapered surface 325 may be configured to match various tapers of the opposing edges 140, 142, 240, 242 of the proximal portions 118, 218 of the guide bars 111, 211 for purposes of orienting the saw blade bracket 110, 210 relative to the mount 18 and / or securing the saw blade bracket 110, 210 to the mount 18. The tapered surfaces 70, 72 may be configured to match the various tapers of the opposing edges 140, 142, 240, 242 of the proximal portions 118, 218 of the guide rods 111, 211 such that a biasing member that pushes the saw blade bracket 110, 210 proximally will cause the proximal portions 118, 218 of the guide rods 111, 211 to be wedged between the opposing tapered surfaces 70, 72 of the bracket 68 to axially align the surgical saw blade 110, 210 with the surgical instrument 14. It is also contemplated that the proximal portions 118, 218 of the guide rods 111, 211 may be wedged between the opposing tapered surfaces 70, 72 of the bracket 68 to laterally align the surgical saw blade 110, 210 with the surgical instrument 14. The opposite edges 140, 142, 240, 242 of the proximal portions 118, 218 of the guide rods 111, 211 may be formed from multiple segments having different taper angles (which will be described in more detail below), and the tapered surfaces 70, 72 of the bracket 68 formed for matching may provide improved alignment of the saw blade bracket 110, 210 with the mounting base 18, thereby improving the navigation accuracy of the saw blade bracket 110, 210.

[0188] Alternatively, refer to Figure 7B It is also contemplated that only one of the opposing tapered surfaces 70, 72 of the bracket 68 is configured to engage the opposing edges 140, 142, 240, 242 of the proximal portions 118, 218 of the guide rods 111, 211. Fig. 7A and Figure 7BAs shown, the opposite edges 140, 142, 240, 242 of the proximal portions 118, 218 of the guide rods 111, 211 may include a first segment 140, 240 and a second segment 142, 242. The first segment 140, 240 may be oriented at a first outward taper angle with respect to the longitudinal axis of the guide rods 111, 211, and the second segment 142, 242 may be oriented at a second outward taper angle with respect to the longitudinal axis of the guide rods 111, 211, wherein the first segments 140 and 240 are oriented at the first outward taper angle that is greater than the second outward taper angle of the second segments 142, 242. The first tapered surface 70 of the bracket 68 may be oriented at a third outward taper angle with respect to the longitudinal axis of the transverse mounting surface 66, and the second tapered surface 72 of the bracket 68 may be oriented at a fourth outward taper angle with respect to the longitudinal axis of the transverse mounting surface 66. The third outward taper angle of the first tapered surface 70 of the bracket 68 may be less than or equal to the fourth outward taper angle of the second tapered surface 72 of the bracket 68. In addition, the third outward taper angle of the first tapered surface 70 of the bracket 68 is configured to match the first outward taper angle of the first segments 140, 240 of the opposite edges 140, 240 of the proximal portions 118, 218 of the guide rods 111, 211 to allow the first segments 140, 240 of the opposite edges 140, 240 of the proximal portions 118, 218 of the guide rods 111, 211 to be wedged between the first tapered surfaces 70 of the bracket 68. The matching tapers of the opposing edges 140, 240 of the proximal portions 118, 218 of the guide rods 111, 211 and the first tapered surface 70 of the bracket 68 can be configured as an alignment feature, such that engagement of the opposing edges 140, 240 of the proximal portions 118, 218 of the guide rods 111, 211 with the first tapered surface 70 of the bracket 68 axially aligns the guide rods 111, 211 within the mount 18. The fourth outward taper angle of the second tapered surface 72 of the bracket 68 can also be configured to match the second outward taper angle of the first segment 142, 242 of the opposing edges 142, 242 of the proximal portions 118, 218 of the guide rods 111, 211 and also serve as an alignment feature to axially align the guide rods 111, 211 within the mount 18. However, it is also conceivable that the proximal portion of the guide rod 111 can be configured such that the fourth outward taper angle of the second tapered surface 72 of the bracket 68 can be greater than the first segments 142, 242 of the opposite edges 142, 242 of the proximal portions 118, 218 of the guide rods 111, 211, thereby forming a gap between the tapered surface 72 of the bracket 68 and the first segments 142, 242 of the proximal portions 118, 218 of the guide rods 111, 211. This configuration is shown in Figure 7BThe configuration of the proximal portion 118, 218 of the guide rod 111, 211 can be used to avoid over-constraining the guide rod 111, 211 within the mount 18 and to avoid additional interference between the proximal portion 118, 218 of the guide rod 111, 211 and the mount 18, which may negatively affect the alignment of the guide rod 111, 211 within the mount 18.

[0189] In operation, the saw blade bracket 110, 210 can be coupled to a surgical instrument 14 (e.g., a robotic arm) or a handheld power tool (which includes a handheld robotic instrument). The saw blade bracket 110, 210 can be assembled to the mount 18 of the surgical instrument 14. To accomplish this, each drive pin 78 of the mount 18 is seated in a separate one of the holes 166, 266 formed in the drive link 162, 262, and the saw blade bracket 110, 210 can be pulled forward, thereby pulling the drive pin 78 and the drive mechanism 76 forward. The saw blade bracket 110, 210 can then be lowered so that the bottom surface of the first plate 112, 212 is positioned adjacent to the mounting surface 66 of the mount 18. Once this is done, the coupling rod 62 of the mount 18 can be inserted through the overlapping openings 126, 152, 190, 226, 252, 290 of the saw blade 110, 210. The coupling lever 64 may then be used to lower the coupling rod 62 to lower the head of the coupling rod 62 onto the guide bar 111, 211, thereby pressing the head of the coupling rod 62 against the top surface of the plate 112, 114, 116, 212, 214, 216 including the keyhole-shaped opening 126, 226. This pressing action holds the saw blade bracket 110, 210 to the mounting seat 18. When the saw blade bracket 110, 210 is secured to the mounting seat 18, the drive pin 78 and the drive link 76 cooperate to push the saw blade bracket 110, 210 proximally. The proximal portion 118, 218 of the saw blade bracket 110, 210 is positioned adjacent to the mounting surface 66.

[0190] The saw blade carriage 110, 210 can be actuated by a motor (not shown) that actuates the surgical instrument 14. Actuation of the motor causes the drive pin 313 to oscillate back and forth. The movement of the drive pin 313 causes the drive link 162, 262 to engage in the opposite back and forth reciprocating motion of the drive link 162, 262. The opposite back and forth motion of the drive link 162, 262 causes the saw blade 170, 270 to pivot back and forth about the head 158, 258 of the guide rod 111, 211. The pivoting action of the saw blade 170, 270 causes the saw blade head 174, 274 to oscillate, and in turn causes the saw blade teeth 176, 178, 276, 278 to oscillate, causing the teeth to cut the tissue against which the saw blade carriage 110, 210 is pressed.

[0191] refer to Figures 8 to 13B , showing the Figure 1 The present invention provides a third configuration of a saw blade bracket 310 for use with a surgical instrument 14 of a surgical system of the present invention. It should be understood that the third configuration of the saw blade bracket 310 can include any and / or all of the features of the above-described saw blade brackets 110, 210. In addition, it should be understood that the features of the saw blade bracket 310 including the same base number can operate and / or function in the same manner as the components of the saw blade bracket 110, 210 including the same base number.

[0192] The sagittal saw blade bracket 310 may also be referred to as a sagittal saw blade bracket, a surgical saw blade bracket, or a bracket. The saw blade bracket 310 may include a guide rod 311. The guide rod 311 may include a plurality of plates 312, 314, 316, including a first plate 312, a second plate 314, and a third plate 316. The guide rod 311 may be configured such that the third plate 316 may be disposed between the first plate 312 and the second plate 314. Thus, the first plate 312 may also be referred to as a bottom plate, the second plate 314 may be referred to as a top plate, and the third plate 316 may be referred to as an inner plate, a center plate, an inner member, a center layer, and / or a center member. Although the guide rod 311 is shown as including only three plates layered in a laminated arrangement, it is contemplated that the guide rod 311 may include any number of plates and / or layers.

[0193] In general, the plates are formed such that the guide rod 311 has a proximal portion 318 that forms the proximal end of the plates 312, 314, 316. The proximal portion 318 of the guide rod 311 can be configured to initially tilt outward as you move distally along the guide rod 311, and then ultimately tilt inward as you move further distally along the guide rod 311. The outward taper of the proximal portion 318 of the guide rod 311 can be configured as a mounting feature to aid in mounting and / or securing the saw blade bracket 310 to a surgical instrument 14 (e.g., a surgical robot or a handheld instrument). For example, as Fig.10 and Fig.11 As shown, the opposing outer edges of the proximal portion 318 of the guide bar 311 may define a contact surface that contacts the tool mount 18. It is also contemplated that one or both of the proximal portions 318 of the first plate 312 and / or the second plate 314 may be shaped to define a recess 336, or include a recess or cutout 336 defined in an outer edge of the proximal portion 318 of the first plate 312 and / or the second plate 314 that exposes a portion 334 of the proximal portion 318 of the third plate 316. The size and / or shape of the recess 336 may be designed to expose only a small portion 334 of the third plate, such as a tab 334 of the third plate 316 that is exposed by the recess 336 defined in the proximal portion 318 of the first plate 312, as shown. Fig.10As shown. Alternatively, the recess 336 defined by the proximal portion of the first plate 312 may include an entire section of the proximal portion 318 of the first plate 312 that is removed to expose the distal protrusion of the third plate along the proximal edge of the proximal portion of the guide rod 311. In either configuration, the portion 334 of the proximal end 318 of the third plate 116 exposed by the recess 336 defined in the outer edge of the first plate 312 or the second plate 314 may be configured as one of the plurality of portions 334 of the guide rod 311 that contacts and / or interacts with the mount 18 of the surgical instrument 14 for the purpose of mounting the saw blade bracket 310 and / or aligning it with the surgical instrument 14. This will be described in more detail below.

[0194] refer to Fig.10 and Fig.11 , the opposing outer edges of the proximal portion 318 of the guide rod 311 may include a plurality of points 339, 341, 343 spaced apart along the perimeter edge of the proximal portion 311. The points 339, 341, 343 along the edge of the proximal portion 318 of the guide rod 311 may define a plurality of segments 340, 342 of the outer edge of the proximal portion 318 of the guide rod 311, each of which may include a different taper relative to a longitudinal axis L extending from the proximal end 318 to the distal end 320 of the guide rod 311. The taper and / or orientation of each segment 340 of the opposing outer edges of the proximal portion 318 of the guide rod 311 may correspond to and / or match the angle and / or taper of the surface of the bracket 68 used to secure the saw blade bracket 310 to the mounting base 18 of the surgical instrument 14, as will be described in more detail below.

[0195] The proximal portion 318 of the guide rod 311 may also include a proximal edge 344 oriented to be substantially perpendicular to the longitudinal axis of the guide rod 311. A recess 328 may be defined in the proximal edge 344 of the guide rod 311. The recess 328 may be formed in the proximal edge 344 of the guide rod 311 on one side or the other side of the longitudinal axis L of the guide rod 311. The recess 328 may serve as an alignment and / or positioning aid when manufacturing the guide rod 311 (including manufacturing the various plates 312, 314, 316 that form the guide rod). It is further contemplated that the size and / or shape of the recess 328 formed in each of the first plate 312, the second plate 314 and / or the third plate 316 may vary. For example, as Fig.10 and Fig.11As shown, the recess 328 formed in the first plate 312 and the third plate 316 is cut deeper in the proximal portion of the respective plates and has a larger radius than the recess 328 formed in the second plate 314. This allows the manufacture of the guide rod 311 to distinguish the first plate 312 from the second plate 314, which may otherwise look very similar. The difference in size and / or shape of the recess 128 formed in the first plate 312 and the second plate 314 can also help the user correctly install the guide rod to the mounting seat of the surgical instrument 14.

[0196] The front of the proximal part 318 of the guide bar 311 is the middle part and the distal part 320. Plate 312,314,316 is formed so that the opposite sides of the side of the formation middle part of the guide bar are roughly parallel. In some configurations, the opposite sides of the distal part 120 of the guide bar 311 can be inclined. As shown in the figure, the opposite edges 332,399 of the distal part 320 of the guide bar 311 can be tilted inwardly towards the center of plate 312,314,316. ​​It can also be imagined that the opposite edges of the distal part 320 of the guide bar 311 can be roughly parallel to each other. The width of the middle part and / or the distal part 320 across the guide bar 311 can be less than the width of the widest position of the proximal part 318 between the opposite edges of the proximal part 318 of the guide bar 311.

[0197] The guide bar 311 may include a plurality of openings 330A, 330B, 330C, 330D, 330E, 330F corresponding to the plurality of reference features 356A, 356B, 356C, 356D, 356E, 356F to allow the navigation system 32 to define the plane of the surgical saw blade bracket 310. However, additional openings 330A, 330B, 330C, 330D, 330E, 330F and corresponding reference features 356A, 356B, 356C, 356D, 356E, 356F may be defined on the guide bar 311. The openings 330A, 330B, 330C, 330D, 330E, 330F may be arranged to provide access to the reference features 356A, 356B, 356C, 356D, 356E, 356F defined on the inner plate 316. Alternatively, the openings 330A, 330B, 330C, 330D, 330E, 330F defined by the first plate 312 and / or the second plate 314 may themselves define the reference features 356A, 356B, 356C, 356D, 356E, 356F of the guide bar 311.

[0198] Openings 330A, 330B, 330C, 330D, 330E, 330F and corresponding reference features 356A, 356B, 356C, 356D, 356E, 356F may be spaced apart from one another and arranged on guide bar 311 such that a straight line cannot be drawn that intersects all reference features 356A, 356B, 356C, 356D, 356E, 356F of a single plate 312, 314, 316. Figures 8 to 13B As shown, the reference feature 356 can be arranged in a generally triangular shape on any one of the corresponding plates 312, 314, 316 of the guide rod. Figures 8 to 13B As shown, the openings 330A, 330B, 330C, 330D, 330E, 330F and / or the reference features 356A, 356B, 356C, 356D, 356E, 356F defined on the plates 312, 314, 316 may be arranged on the corresponding plates 312, 314, 316 such that when the plates 312, 314, 316 are designated as the guide rod 311, the openings 330A, 330B, 330C, 330D, 330E, 330F of one plate 312, 314, 316 are Each of the plates 312, 314, 316 and / or each of the reference features 356A, 356B, 356C, 356D, 356E, 356F is concentrically aligned with an opening 330A, 330B, 330C, 330D, 330E, 330F and / or a reference feature 356A, 356B, 356C, 356D, 356E, 356F of the other plate 312, 314, 316.

[0199] It is further contemplated that the guide bar 311 may be configured to define openings 330A, 330B, 330C, 330D, 330E, 330F and / or reference features 356A, 356B, 356C, 356D, 356E, 356F on at least two different surfaces of the plates 312, 314, 316. This may include defining openings 330A, 330B, 330C, 330D, 330E, 330F and / or reference features 356A, 356B, 356C, 356D, 356E, 356F on opposite surfaces of a single plate, such as the third plate 316. Alternatively, it may include defining openings 330A, 330B, 330C, 330D, 330E, 330F and / or reference features 356A, 356B, 356C, 356D, 356E, 356F on the surfaces of two different plates 312, 314, 316. For example, Figures 8 to 12As shown, the guide rod 311 can be configured such that openings 330A, 330B, 330C, 330D, 330E, 330F and / or reference features 356A, 356B, 356C, 356D, 356E, 356F are defined on the surface of each of the first plate 312 and the second plate 314. The set of reference points can be configured to be used to register the position of the guide rod 311 within a known coordinate system of the navigation system and / or to verify the correct loading of the guide rod within the surgical manipulator 14.

[0200] Reference features 356A, 356B, 356C, 356D, 356E, 356F and thus openings 330A, 330B, 330C, 330D, 330E, 330F can be arranged on the guide rod 311 in a position where both the specific position of the reference features 356A, 356B, 356C, 356D, 356E, 356F on the guide rod 211 is known and the position of each of the reference features 356A, 356B, 356C, 356D, 356E, 356F relative to each of the other reference features 356A, 356B, 356C, 356D, 356E, 356F is known. The known positions of the reference features 356A, 356B, 356C, 356D, 356E, 356F on the guide rod 311 will be used to define the position of the guide rod 311 and / or the surgical saw blade bracket 310 within the known coordinate system of the navigation system 32. As part of the registration process, the navigation system 32 will use the known positions of the reference features 356A, 356B, 356C, 356D, 356E, 356F to calculate the expected position of each of the reference features 356A, 356B, 356C, 356D, 356E, 356F based on the geometric characteristics and mechanical stacking of each of the surgical instrument 14 and the surgical saw blade bracket 310, which will be described in more detail below.

[0201] The reference feature 356 may be defined as a recess, indentation, pit, logo, or similar marking defined on any of the plates 312, 314, 316 of the guide bar 311. This may include a pit on the surface of any of the plates 312, 314, 316. It is further contemplated that the reference feature 356 may include a marking, such as a laser marking (without any physical recess, pit, or hole) defined on any of the plates 312, 314, 316. The marking may be implemented as an etched, colored, engraved, or similar optical marking.

[0202] refer to Fig.13A and Fig. 13B, in conjunction with the reference features 356A, 356B, 356C, 356D, 356E, 356F and / or openings 330A, 330B, 330C, 330D, 330E, 330F defined in the guide bar 311, an exemplary configuration of two separate distal ends 59 of the pointer 57 is shown. As described above, the size and / or shape of the distal end 59 of the pointer 57 can be designed to fit within the opening 330 defined in the first plate 312 or the second plate 314 of the guide bar 311, so that the distal end 59 of the pointer 57 is not inhibited and / or prevented from contacting the reference feature 356 disposed on the third plate 316. For example, as Fig.13A As shown, the distal end of the first configuration of the distal end 59 of the pointer 57 includes a spherical end, which includes a first diameter D1. The opening may include a second dimension D2. The second dimension D2 may define the diameter of a circular or elliptical opening. Alternatively, the second dimension D2 may include the side length of a triangle and / or the width of a square or rectangle. The combination of the distal end 59 of the pointer 57 and the opening 330 may be configured such that the minimum second dimension D2 of the opening 330 is greater than the maximum first diameter D1 of the distal end 59. The advantage of using a surgical saw blade bracket 310, 210 that defines a reference feature 356 without using a recess or making similar physical changes to the guide rod 311 is that the manufacturing process is simplified. In this case, only the opening 330 needs to be machined on the second plate 314, and there is no need to further machine a recess in the third plate 316. Machining a recess suitable for navigation verification and registration is an expensive and complex process. The spherical end on the distal end 59 of the pointer 57 abuts the flat portion of the third plate 316. The abutment is used to register the position of the surgical saw blade within the known coordinate system of the navigation system.

[0203] Alternatively, the size and / or shape of the distal end 59 of the pointer 57 can be designed to be larger than the opening 330 defined in the first plate 312 or the second plate 314 of the guide bar 311, so that the distal end 59 of the pointer 57 is inhibited and / or prevented from contacting the third plate 316. In this configuration of the guide bar 311, the opening 330 is configured to serve as a reference feature 356, wherein the distal end 59 of the pointer 57 is sized and / or configured to touch the opening 330. For example, Fig. 13B As shown, the distal end of the first configuration of the distal end 59 of the pointer 57 includes a spherical tip having a third dimension D3 that is greater than the second dimension D2 of the opening 330. Fig. 13B As shown, the distal end 59 of the pointer 57 can be manipulated to contact the opening 330 defined in the first plate 312 and / or the second plate 314 without contacting the third plate 316. The first plate 312 and / or the second plate 314 can also define reference features 356 (e.g., recesses, detents, etc.) to be contacted by the distal end 59 of the pointer 57 to align the saw blade to the navigation system.

[0204] refer to Figures 14 to 17 , a third configuration of a surgical saw blade 310B is shown, which includes an alternative arrangement of reference features 356 defined by plates 312, 314, 316. Figures 14 to 17 As shown, the reference feature 356 can be arranged in a generally triangular shape on any one of the corresponding plates 312, 314, 316 of the guide rod. Figures 14 to 17 As shown, the openings 330A, 330B, 330C, 330D, 330E, 330F and / or the reference features 356A, 356B, 356C, 356D, 356E, 356F defined on the plates 312, 314, 316 may be arranged on the corresponding plates 312, 314, 316 such that when the plates 312, 314, 316 are assembled into the guide rod 311, the openings 330A, 330B, 330C, 330D, 330E, 330F of one plate 312, 314, 316 are aligned with each other. Each of the openings 330A, 330B, 330C, 330D, 330E, 330F and / or each of the reference features 356A, 356B, 356C, 356D, 356E, 356F of the other plate 312, 314, 316 is concentrically aligned with one opening 330A, 330B, 330C, 330D, 330E, 330F and / or one reference feature 356A, 356B, 356C, 356D, 356E, 356F. In the configuration of the surgical saw blade 310B, the distal-most openings 330A, 330D and / or the reference features 356A, 356D defined in the guide bar 311 are aligned relative to the distal end of the guide bar 311. Figures 8 to 12 The distal-most holes 330A, 330D and / or reference features 356A, 356D of the saw blade bracket 310A are positioned distally on the guide rod 311 .

[0205] refer to Figures 18 to 23B , showing the Figure 1 The fourth configuration of a saw blade bracket 410 for use with a surgical instrument 14 of a surgical system of the present invention. The saw blade bracket 410 may include any or all of the features of the configurations of the saw blade brackets 110, 210, 310 described above. In addition, it should be understood that the features of the saw blade bracket 410 including the same base number may operate and / or function in the same manner as the components of the saw blade brackets 110, 210, 310 including the same base number.

[0206] Figures 18 to 22 The illustrated saw blade bracket 410 substantially includes all of the features of the third configuration of the saw blade bracket 410, with an alternative arrangement of reference features 456 defined by the plates 412, 414, 416. Figures 18 to 22As shown, the opening 430 and / or the reference feature 456 may be arranged in a generally rectangular or trapezoidal shape on any of the corresponding plates 412, 414, 416 of the guide rod 411. Figures 18 to 22 As shown, the openings 430A, 430B, 430C, 430D, 430E, 430F, 430G, 430H and / or the reference features 456A, 456B, 456C, 456D, 456E, 456F, 456G, 456H defined on the plates 412, 414, 416 may be arranged on the corresponding plates 412, 414, 416 such that when the plates 412, 414, 416 are assembled into the guide rod 411, the openings 430A, 430B, 430C, 430D, 430E, 430F, 430G, 430H of one plate 412, 414, 416 are aligned with each other. Each of the plates 412, 414, 416 and / or each of the reference features 457A, 456B, 456C, 456D, 456E, 456F, 456G, 456H is concentrically aligned with an opening 430A, 430B, 430C, 430D, 430E, 430F, 430G, 430H and / or a reference feature 456A, 456B, 456C, 456D, 456E, 456F, 456G, 456H of the other plate 412, 414, 416.

[0207] refer to Figures 24 to 37 , a plurality of registration and / or verification methods are shown in the form of a flow chart. The various registration and / or verification processes will be described in more detail below.

[0208] Registration process:

[0209] Once the saw blade bracket 110, 210, 310, 410 has been mounted to the mount 18 and / or the surgical instrument 14, the reference features 156, 256, 356, 456 of the saw blade bracket 110, 210, 310, 410 may be used to register and / or verify the pose of the saw blade bracket 110 using the navigation system 32. FIG. 6A to FIG. 6D , various configurations of a system for registering a surgical saw blade carriage 110 coupled to a surgical instrument 14 are shown.

[0210] A method of registering a surgical saw blade bracket 110, 210, 310, 410 within a known coordinate system defined by a navigation system 32 may include the following steps: determining an expected position of a reference feature 156, 256, 356, 456 based on predetermined geometric data corresponding to the relationship between the mounting features of the saw blade bracket 110, 210 and the reference feature 156, 256, 356, 456 as described above. The expected position may be calculated and / or determined by the navigation system 32 based on known geometric data for the surgical instrument 14, the mount 18, and / or the surgical saw blade bracket 110, 210, 310, 410 and the pose of the tracker 52 disposed on the surgical instrument 14. Using the known geometric data or the pose of the various components and the tracker 52 disposed on the surgical instrument 14, the navigation system may calculate the transformation to determine the expected position of the reference feature 156, 256, 356, 456.

[0211] The method of registering the surgical saw blade bracket 110, 210 within a known coordinate system may also include the step of determining the actual position of the surgical saw blade bracket 110, 210, 310, 410 within the known coordinate system defined by the navigation system 32. To determine the actual position of the surgical saw blade bracket 110, 210, 310, 410 within the known coordinate system, a pointer 57 may be used. This step may include causing the pointer 57 or an instrument including a pointer tracker PT to contact one or more of the reference features 156, 256, 356, 456 defined and / or disposed on the guide rod 111, 211, 311, 411. For example, in one configuration of the surgical saw blade bracket 110 described above, the guide rod 111 may include an opening 130 defined in one or more of the plates 112, 114 of the guide rod 111 to provide access to the reference features 156 disposed on the inner plate 116, 216. In this configuration, touching the pointer 57 to the reference features 156 may include inserting the distal end 59 of the pointer 57 into and / or through the opening 130 defined in at least one of the first plate 112, 212 or the second plate 114, 214 to contact the reference features 156. As the pointer 57 is manipulated to contact each of the reference features 156, the navigation system 32 may track the pose of the pointer 57 via the pointer tracker PT. While the distal end 59 of the pointer is engaged with the reference features 156, the navigation system may be configured to calculate a transformation using the pose of the pointer 57 within a known coordinate system to determine the actual position of each reference feature 156 within the known coordinate system.

[0212] Alternatively, with a second configuration of the surgical saw blade bracket 210, wherein the reference features 256 are defined on a surface of one of the first plate 212 and the second plate 214, the step of determining the actual position of the surgical saw blade bracket 210 within the known coordinate system may include manipulating the pointer 57 to bring each of the reference features 256 into contact with the distal end 59 of the pointer 57. As the pointer 57 is manipulated to contact each of the reference features 256, the navigation system 32 may track the pose of the pointer 57 via the pointer tracker PT. While the distal end 59 of the pointer 57 is engaged with the reference features 256, the navigation system 32 may be configured to calculate a transformation using the pose of the pointer 57 within the known coordinate system to determine the actual position of each of the reference features 256 within the known coordinate system.

[0213] In another configuration, the step of determining the actual position of the surgical saw blade bracket 110 within the known coordinate system may include manipulating the pointer 57 to track a reference feature 356 defined on the guide rod 111 using the distal end 59 of the pointer 57. When the pointer 57 is manipulated to track along the path defining the reference feature 356, the navigation system 32 may track the pose of the pointer 57 via the pointer tracker PT. For example, the reference feature may include a path that at least partially outlines a portion of the perimeter of the mount 18 on the surface of the guide rod 111. See Figure 6C and Fig.6D . While the distal end 59 of the pointer 57 tracks the path defining the reference feature 356, the navigation system 32 can be configured to use the pose of the pointer 57 within a known coordinate system to calculate a transformation to determine the actual orientation of the plane of the surgical saw blade bracket 110, or more specifically, to determine the orientation of the plane defined by one or more of the first plate 112, the second plate 114, and the third plate 116 in a known coordinate system (e.g., in the coordinate system of the tracker 52).

[0214] To determine the actual orientation of the plane of the carriage, the navigation system may determine the actual position of the reference features 156, 256, 356 defined and / or disposed on the guide rods 111, 211, 311, 411. The navigation system 32 may be further configured to compare the actual position of each of the reference features 156, 256, 356 (i.e., relative to the locator) found using the pointer 57 with an expected position of each of the reference features 156, 256, 356 based on stored information of the positions of these reference features relative to the tracker 52 determined during the manufacturing process. The comparison may include calculating a deviation between the actual position of each of the reference features 156, 256, 356 found using the pointer 57 and the expected position of each of the reference features 156, 256, 356 based on the stored information. For example, a least squares model may be utilized to determine the deviation between the actual position of each of the reference features 156 , 256 , 356 , 456 found using the pointer 57 and the expected position of each of the reference features 156 , 256 , 356 , 456 .

[0215] Using the calculated deviations between the actual position of each of the reference features 156, 256, 356, 456 found using the pointer 57 and the expected position of each of the reference features 156, 256, 356, 456, the navigation system 32 may further include adjusting the position of the reference features 156, 256, 356, 456 within the known coordinate system and assigning a hybrid position to each of the reference features 156, 256, 356, 456 based on the calculated deviations. The hybrid position will define the location of each of the reference features 156, 256, 356, 456 at a position within the known coordinate system (e.g., relative to the tracker 52 on the surgical instrument 14) that is located at an intermediate position between the actual position of each of the reference features 156, 256, 356, 456 found using the pointer 57 and the expected position of each of the reference features 156, 256, 356.

[0216] The method may also include defining a plane of the guide bar 111, 211, 311, 411 and / or the surgical saw blade bracket 110, 210, 310, 410 in a known coordinate system relative to the tracker 52 on the surgical instrument 14 using the hybrid position assigned to each of the reference features 156, 256, 356, 456. The navigation system 32 may also be configured to navigate the surgical instrument 14 during surgery, and thereby navigate the surgical saw blade bracket 110, 210, 310, 410. This may be achieved by tracking the position and / or orientation of the tracker 52 on the surgical instrument 14. Once the surgical saw blade bracket 110, 210, 310, 410 is registered in a known coordinate system relative to the tracker 52 on the surgical instrument 14, the navigation system 32 will know the pose of the surgical saw blade bracket 110, 210, 310, 410 based on the position of the tracker 52 on the surgical instrument 14 in the known coordinate system.

[0217] This registration method using hybrid positions to define the plane of the bracket provides a fast and effective registration method for saw blade systems that do not control the position of the bracket in all six degrees of freedom, such as those robotic systems that only provide control in three degrees of freedom, as described in PCT / US2021 / 049440, the entire contents of which are incorporated herein by reference. For handheld robotic systems, the position of the saw blade relative to the bone may not be controlled by the actuator in all degrees of freedom, such as the depth of the saw blade relative to the tool platform. For such handheld robotic systems, the distal end of the saw blade bracket (i.e., the saw blade) does not need to be able to be determined with absolute precision.

[0218] In another configuration, a method of registering a saw blade 110, 210, 310, 410 within a known coordinate system of a navigation system includes: mounting the surgical saw blade 110, 210, 310, 410 to a surgical manipulator including a first tracking device; bringing each of at least two reference features 156, 256, 356, 456 on a first surface or plate 112, 212, 312, 412 of the surgical saw blade 110, 210, 310, 410 into contact with a distal end of a surgical instrument including a second tracking device; bringing each of at least two reference features 156, 256, 356, 456 on a second surface or plate 114, 214, 314, 414 of the surgical saw blade 110, 210, 310, 410 into contact with a distal end of the surgical instrument contact; contact at least one reference feature 60 on the surgical manipulator; when the distal end of the surgical instrument contacts each of the reference features 156, 256, 356, 456 on the surgical saw blade and the reference feature 60 on the surgical manipulator, track the positions of the first tracking device and the second tracking device using the locator of the navigation system to define the actual position of each of the reference features 156, 256, 356, 456, 60 of the surgical saw blade relative to the reference feature of the surgical manipulator; and define the hybrid position of each of the at least one reference feature 60 of the surgical manipulator by performing mathematical fitting between the actual positions of each of the reference features 156, 256, 356, 456 of the surgical saw blade 110, 210, 310, 410 relative to the at least one reference feature of the surgical manipulator 60.

[0219] The method of aligning saw blades 110, 210, 310, 410 within a known coordinate system may also include defining a hybrid position of at least one reference feature of the surgical manipulator within the known coordinate system based on a mathematical fit, such that the hybrid position of each of the reference features differs from the actual position in only one degree of freedom.

[0220] The method of registering saw blades 110, 210, 310, 410 within a known coordinate system may also include defining a hybrid position of at least one reference feature of the surgical manipulator within the known coordinate system based on mathematical fitting so that the actual position of each of the at least one reference feature of the surgical manipulator is moved in only one degree of freedom.

[0221] The method of registering the saw blade 110 , 210 , 310 , 410 within a known coordinate system may also include the one degree of freedom being along a longitudinal axis of the surgical saw blade 110 , 210 , 310 , 410 .

[0222] In another embodiment, a method for aligning a surgical saw blade 110, 210, 310, 410 within a known coordinate system of a navigation system, the method comprising: mounting the surgical saw blade to a surgical manipulator comprising a first tracking device; bringing each of at least two reference features on a first surface of the surgical saw blade into contact with a distal end of a surgical instrument comprising a second tracking device; bringing each of at least two reference features on a second surface of the surgical saw blade into contact with a distal end of the surgical instrument; when the distal end of the surgical instrument contacts each of the reference features on both the first surface and the second surface of the surgical saw blade, tracking the position of the first tracking device and the second tracking device using a locator of the navigation system to define the actual position of each of the reference features on the first surface and the second surface relative to the first tracking device of the surgical manipulator; and defining the position and / or orientation of the surgical saw blade within the known coordinate system in one or more degrees of freedom based on a mathematical fit of the positions of the at least two reference features on each of the first surface and the second surface.

[0223] The method of registering the saw blade 110, 210, 310, 410 within a known coordinate system may further include contacting a manipulator reference feature defined on the surgical manipulator with the distal end of the surgical instrument and defining a blended position of the manipulator reference feature within the known coordinate system based on a comparison of each of the reference features of the first surface and the second surface relative to the actual position of the manipulator reference feature, wherein the tool center point is further defined based on a mathematical fit of the positions of at least two reference features of each of the first surface and the second surface to the blended position of the manipulator reference feature. It is contemplated that the tool center point may refer to the origin of a reference array specific to the surgical saw blade 110, 210, 310, 410, or may refer to the origin of a reference array of a system including at least the surgical saw blade 110, 210, 310, 410 and the surgical manipulator 14.

[0224] Verification process:

[0225] The combination of three or more openings 130A, 130B, 130C and three or more reference features 156A, 156B, 156C can also be configured to verify the position and / or posture of the surgical saw blade 110, 210 relative to the tracker 52 of the surgical instrument 14 within the known coordinate system defined by the navigation system 32. It should be understood that the size of the openings 130A, 130B, 130C and the corresponding reference features 156A, 156B, 156C can have a predetermined dimensional relationship with respect to one or more mounting features. This enables the above-mentioned alignment and / or verification within the known coordinate system of the surgical navigation system 32 to be completed by touching the distal end 59 of the pointer 57 to one or more reference features 156A, 156B, 156C disposed on the guide rod 111. For example, the predetermined dimensional relationship based on the geometric characteristics of the combination of the surgical saw blade bracket 110, the mounting seat 18 and the surgical instrument 14 can be stored on the storage unit of the surgical navigation system 32. Based on these known geometric properties, the navigation system can be configured to determine the expected position of each of the guide rod's reference features 156A, 156B, 156C relative to the tracker 52 of the surgical instrument 14.

[0226] To complete the verification process, the pointer 57 may be manipulated to contact one or more reference features 156A, 156B, 156C while the navigation system 32 tracks the pose of the pointer 57 via the pointer tracker PT. The navigation system 32 may be configured to define the actual position of each of the reference features within a known coordinate system based on the pose of the pointer 57 when contacting each of the reference features 156A, 156B, 156C. The expected position of each of the reference features 156A, 156B, 156C may be compared to the actual position of the reference features 156C, 156B, 156C. The navigation system 32 may be configured to define an acceptable amount of deviation between the expected position of each of the reference features 156A, 156B, 156C and the actual position of the reference features 156C, 156B, and 156C. If the deviation between the expected position of each of the reference features 156A, 156B, 156C and the actual position of the reference features 156C, 156B, 156C has an acceptable deviation amount, the navigation system 32 can be configured to allow operation and / or navigation of the surgical instrument 14 during the surgical procedure. In contrast, if the deviation between the expected position of each of the reference features 156A, 156B, 156C and the actual position of the reference features 156C, 156B, 156C is greater than the acceptable deviation amount, the navigation system 32 can be configured to provide a warning to the user and / or prevent operation and / or navigation of the surgical instrument 14.

[0227] A similar verification process can be completed for one of the alternative configurations of the surgical saw blade holder 110, 210, 310, 410 that includes one of the alternative types of reference features 156, 256, 356, 456, such as laser marking and / or tracing of a pattern or contour on the guide rod 111, 211, 311, 411.

[0228] The combination of the opening 130, 230, 330, 430 defined by the guide rod 111, 211, 311, 411 and / or the reference features 156, 256, 356, 456 can also be configured to verify whether the surgical saw blade bracket 110, 210, 310, 410 is properly loaded. In operation, the method can include manipulating the pointer 57 to contact one or more reference features 156, 256, 356, 456 while the navigation system 32 tracks the pose of the pointer 57 via the pointer tracker PT. The navigation system 32 can be configured to define the actual position of each of the reference features 156, 256, 356, 456 within a known coordinate system based on the pose of the pointer 57 when contacting each of the reference features 156, 256, 356, 456. While the navigation system 32 tracks the pose of the pointer 57 via the pointer tracker PT, the pointer 57 may also be manipulated to contact one or more manipulator reference features 60. The navigation system 32 may be configured to define an actual position of the manipulator reference feature 60. The method may also include applying a mathematical fit to the actual position of the reference features 156, 256, 356, 456 compared to the actual position of the manipulator reference feature 60, and determining whether the saw blade bracket 110, 210, 310, 410 is correctly mounted to the surgical manipulator based on a comparison of the actual position of the manipulator reference feature with the actual position of each of the reference features of the first surface and the second surface, based on the defined deviation being within an acceptance threshold / range.

[0229] The combination of the opening 130, 230, 330, 430 and / or the reference features 156, 256, 356, 456 defined by the guide bar 111, 211, 311, 411 can also be configured to verify that the process of registering the surgical saw blade bracket 110, 210, 310, 410 using the navigation system has been successfully completed. The method can include mounting a surgical saw blade bracket to a surgical manipulator, the surgical saw blade bracket including: a guide bar having a first plate disposed adjacent to a second plate and a saw blade disposed at least partially between the first plate and the second plate and extending from a distal end of the guide bar, and a surgical manipulator including a first tracking device. The method can also include contacting each of at least two reference features on the first plate of the guide bar with a distal end of a surgical instrument, the surgical instrument including a second tracking device, and contacting each of at least two reference features on the second plate of the guide bar with the distal end of the surgical instrument, each of the reference features of the first plate being concentric with one of the reference features of the second plate. While contacting the reference features, when the distal end of the surgical instrument contacts each of the reference features on the first plate and the second plate of the surgical saw blade bracket, the position of the first tracking device and the second tracking device are tracked using the localizer of the navigation system to define the actual position of each of the reference features of the first plate and the second plate relative to the first tracking device of the surgical manipulator. The method may then include determining a thickness of the bracket based on the actual position of the reference features on the first plate and the second plate, and providing an indication to the user based on the determined thickness of the bracket.

[0230] Various shapes of components may also differ from those already described.

[0231] Therefore, it is the object of the appended claims to cover all such variations and modifications which cover the true spirit and scope of the surgical saw blade holder 110 , 210 , 310 , 410 .

Claims

1. A saw blade bracket for use with a surgical device, the saw blade bracket comprising: A guide rod, the guide rod comprising: a first plate and a second plate, each of the first plate and the second plate having a distal portion and a proximal portion; an inner plate disposed at least partially between the first plate and the second plate, the inner plate defining a pivot surface; A saw blade, the saw blade being at least partially disposed between the first plate and the second plate, the saw blade comprising: a saw blade body including a proximal end and a distal end; and a saw blade head disposed on the distal end of the saw blade body, the saw blade head being formed with teeth, wherein the proximal end of the saw blade body abuts the pivot surface; wherein the proximal portion of each of the first plate and the second plate each defines a peripheral edge, wherein a portion of the inner panel extends beyond the perimeter edge defined by the proximal portion of at least one of the first panel and the second panel.

2. The saw blade bracket according to claim 1, wherein: The peripheral edge defined by the proximal portion of at least one of the first plate and the second plate is disposed on the portion of the inner plate that extends beyond the proximal portion of the first plate and the second plate to define a shelf to assist in mounting and aligning the saw blade bracket with the surgical device.

3. The saw blade bracket according to claim 1, wherein: The peripheral edge defined by the proximal portion of only one of the first plate and the second plate is disposed on the portion of the inner plate that extends beyond the proximal portion of the other of the first plate and the second plate to define a shelf to assist in mounting and aligning the saw blade bracket with the surgical device.

4. The saw blade bracket according to claim 1, wherein: The peripheral edge defined by the proximal portion of at least one of the first plate and the second plate includes a recess to expose the portion of the inner plate to define a shelf to facilitate mounting and aligning the saw blade bracket with the surgical device.

5. The saw blade bracket according to claim 1, wherein: The peripheral edge defined by the proximal portion of only one of the first and second plates includes a recess to expose the portion of the inner plate to define a shelf to facilitate mounting and aligning the saw blade bracket with the surgical device.

6. The saw blade bracket according to any one of claims 1 to 5, wherein: The first plate defines a keyhole shape for mounting the saw blade, and the inner plate extends beyond the perimeter edge defined by the second plate.

7. The saw blade bracket according to any one of claims 1 to 5, wherein: The inner plate defines a recess in a side of the inner plate facing away from a longitudinal axis of the bracket, and the first plate defines a recess aligned with the recess of the inner plate.

8. The saw blade bracket according to any one of claims 1 to 5, wherein: The inner plate also includes a tine extending from a proximal end of the guide rod, the tine defining the pivot surface.

9. The saw blade bracket according to claim 8, wherein: The tines are inner tines, and the inner plate further comprises first and second outer tines, the inner tines being disposed between the first and second outer tines.

10. The saw blade bracket according to claim 8, wherein: The tines are inner tines, and the saw blade bracket further comprises first and second outer tines, the first and second outer tines being positioned between the first and second plates, and the inner tines being disposed between the first and second outer tines.

11. The saw blade bracket according to claim 9 or 10, wherein: The first outer tine and the second outer tine extend closer to the distal end of the guide rod than the inner tine.

12. The saw blade bracket according to claim 9 or 10, wherein: The first outer tine and the second outer tine each include a distal end; wherein the guide rod is configured such that the distal end of each of the first outer tine and the second outer tine is close to the distal ends of the first plate and the second plate; and Wherein the side defined by the first plate and the second plate defines a hole, the hole is located proximal to the distal ends of the first plate and the second plate and distal to the distal end of each of the first outer tine and the second outer tine, and the hole provides a debris outlet.

13. The saw blade bracket according to claim 10, wherein: The first external tine and the second external tine each include a distal tip; Wherein, the guide rod is configured such that the distal tip of each of the first outer tine and the second outer tine is adjacent to the distal ends of the first plate and the second plate.

14. The saw blade bracket according to any one of claims 1 to 13, wherein: The pivot surface is an arcuate surface.

15. The saw blade bracket of claim 14, wherein: The proximal end of the saw blade body defines a recess adjacent the pivot surface such that when the saw blade body is actuated, the saw blade body is configured to pivot about the pivot surface defined by the inner plate.

16. The saw blade bracket according to claim 14 or 15, wherein: The teeth define a thickness of the saw blade head, which is equal to or greater than a thickness of the guide bar to allow the guide bar to be inserted into a kerf cut by the saw blade head.

17. The saw blade bracket according to any one of claims 1 to 16, wherein: At least one of the plates defines a reference feature configured to facilitate determining a position and / or orientation of the surgical saw blade using a navigation system.

18. The saw blade bracket of claim 17, wherein: The reference features are selected from the group consisting of optical marks, pits or holes.

19. A saw blade carriage according to any one of the preceding claims, wherein: The saw blade bracket further includes at least one drive link movably disposed between the first plate and the second plate, The at least one drive link has opposite proximal and distal ends, the proximal end being adapted to be attached to a drive element of the surgical device and the distal end being connected to the proximal end of the saw blade body such that reciprocating motion of the at least one drive link causes the saw blade to pivot about the pivot surface.

20. The saw blade bracket of claim 19, wherein: The at least one drive link includes at least two drive links.

21. The saw blade bracket of claim 20, wherein: The at least two drive links are movably coupled to the saw blade head.

22. A saw blade bracket of a surgical device, the saw blade bracket comprising: A guide rod, the guide rod comprising: a first plate and a second plate, each of the first plate and the second plate having a distal portion and a proximal portion; an inner panel, the inner panel being partially disposed between the first panel and the second panel; wherein the guide rod defines a pivot surface; A saw blade, the saw blade being at least partially disposed between the first plate and the second plate, the saw blade comprising: a saw blade body including a proximal end and a distal end; and a saw blade head disposed on the distal end of the saw blade body, the saw blade head being formed with teeth, wherein the proximal end of the saw blade body abuts the pivot surface; wherein the proximal portion of each of the first plate and the second plate each defines a peripheral edge, wherein a portion of the inner panel extends beyond the perimeter edge defined by the proximal portion of at least one of the first panel and the second panel.

23. A saw blade bracket, a surgical device and a navigation system, the saw blade bracket comprising: A guide rod, the guide rod comprising a distal portion and a proximal portion, the guide rod comprising: First board; Second board; and an inner panel positioned between the first panel and the second panel; A saw blade, the saw blade being at least partially disposed between the first plate and the second plate of the guide bar, the saw blade comprising: a saw blade body including a proximal end and a distal end, the proximal end of the saw blade body abutting a pivot defined by the guide bar; and a saw blade head, the saw blade head being disposed on the distal end of the saw blade body, the saw blade head being formed with teeth; At least three marks are disposed on an outer surface of one of the first plate and the second plate to define a plane of the guide rod within a coordinate system of the navigation system.

24. The saw blade bracket of claim 23, wherein: Each of the at least three landmarks comprises an optical marking defined on one of the first plate and the second plate to facilitate determining a position and / or orientation of the surgical saw blade using a navigation system.

25. The saw blade bracket according to claim 23 or 24, wherein: The saw blade head also defines a cutout having an opening defined between two adjacent teeth.

26. The saw blade bracket of claim 25, wherein: The cutout defines a teardrop-shaped opening in the saw blade head.

27. A saw blade bracket as claimed in any one of claims 23 to 26, wherein: The proximal portion of each of the first plate and the second plate each defines a peripheral edge, wherein a portion of the proximal portion of the inner panel extends beyond the perimeter edge defined by the proximal portion of at least one of the first panel and the second panel.

28. A saw blade bracket, a surgical device and a navigation system, the saw blade bracket comprising: A guide rod, the guide rod comprising a distal portion and a proximal portion, the guide rod comprising: First board; Second board; and an inner plate disposed partially between the first plate and the second plate, the inner plate defining a pivot surface; A saw blade, the saw blade being at least partially disposed between the first plate and the second plate, the saw blade comprising: a saw blade body including a proximal end and a distal end, the proximal end of the saw blade body abutting the pivot surface; and a saw blade head, the saw blade head being disposed on the distal end of the saw blade body, the saw blade head being formed with teeth; At least three openings are defined in one of the first plate and the second plate, the at least three openings being configured to provide access to an outer surface of the inner plate at a location of each of the at least three openings.

29. The saw blade bracket of claim 28, wherein: The proximal portion of each of the first plate and the second plate each defines a peripheral edge, wherein a portion of the proximal portion of the inner panel extends beyond the perimeter edge defined by the proximal portion of at least one of the first panel and the second panel.

30. A saw blade bracket for a surgical device, the saw blade bracket comprising: A guide rod, the guide rod comprising a distal end and a proximal end, the guide rod comprising: First board; Second board; and an inner plate disposed partially between the first plate and the second plate, the inner plate defining a pivot surface; a recess defined in a proximal end of at least one of the first plate, the second plate, and the inner plate; A saw blade, the saw blade being at least partially disposed between the first plate and the second plate, the saw blade comprising: a saw blade body including a proximal end and a distal end, the proximal end of the saw blade body abutting the pivot surface; and A saw blade head is arranged on the distal end of the saw blade body, and the saw blade head is formed with teeth.

31. The saw blade bracket of claim 30, wherein: The saw blade head also defines a cutout having an opening defined between two adjacent teeth.

32. The saw blade bracket according to claim 30 or 31, wherein: The cutout defines a teardrop-shaped opening in the saw blade head.

33. A saw blade bracket as claimed in any one of claims 30 to 32, wherein: a longitudinal axis extending between the distal end and the proximal end of the guide rod, the longitudinal axis bisecting the guide rod into a first transverse portion and a second transverse portion; as well as wherein the recess is defined in the proximal end of at least one of the first plate, the second plate, and the inner plate, and is positioned on one of the first lateral portion and the second lateral portion.

34. A saw blade bracket as claimed in any one of claims 30 to 33, wherein: each of the first panel, the second panel, and the inner panel includes opposing outer edges; as well as Wherein opposing outer edges of each of the first panel, the second panel and the inner panel are mirror images of each other.

35. A saw blade bracket as claimed in any one of claims 30 to 34, wherein: At least one of the plates defines a reference feature configured to facilitate determining a position and / or orientation of the guide rod within a coordinate system of a navigation system.

36. The saw blade bracket of claim 35, wherein: The reference features are selected from the group consisting of optical marks, pits or holes.

37. A surgical saw system, the system comprising: A surgical device comprising a mounting seat, the mounting seat defining a mounting surface, and the mounting seat comprising: a first wall and a second wall extending above the mounting surface, the first wall and the second wall being positioned on opposite sides of a longitudinal axis of the mount; The first wall and the second wall are inclined relative to the longitudinal axis of the mount; at least one tab disposed on each of the first wall and the second wall, each of the at least one tab being disposed above and extending across the mounting surface; A saw blade bracket, the saw blade bracket being removably coupled to the mounting base of the surgical device, the saw blade bracket comprising: A guide rod, comprising a distal portion and a proximal portion, the guide rod comprising: First board; Second board; and an inner plate, the inner plate being partially disposed between the first plate and the second plate, wherein the proximal portion of each of the first plate and the second plate each defines a peripheral edge, wherein a portion of the proximal portion of the inner panel extends beyond the perimeter edge defined by the proximal portion of at least one of the first panel and the second panel; wherein each of the first wall and the second wall engages the peripheral edge of at least one of the first plate and the second plate to help align the saw blade bracket along the longitudinal axis, and each of the at least one protrusion engages a surface of the proximal portion of the inner plate that extends beyond the portion of the peripheral edge defined by the proximal portion of at least one of the first plate and the second plate.

38. The system of claim 37, wherein: The mounting base also includes a mounting mark; and The guide rod comprises a rod mark, and a combination of the mounting mark and the rod mark is configured to define a plane of the guide rod in a coordinate system of a navigation system.

39. The system of claim 37, wherein: At least one of the plates defines a reference feature configured to facilitate determining a position and / or orientation of the saw blade carriage using a navigation system.

40. The system of claim 39, wherein: The reference features are selected from the group consisting of optical marks, pits or holes.

41. The system of claim 37, wherein: The surgical device also includes a tracking device for use with a navigation system to track the posture of the surgical instrument.

42. The system of claim 41, wherein: The surgical device also includes one or more markers configured to be used to register the surgical device relative to the tracking device of the surgical device within the known coordinate system defined by the navigation system.

43. A method of confirming the position and / or orientation of a surgical saw blade using a navigation system, the surgical saw blade comprising a guide bar, the guide bar comprising an inner plate partially disposed between a first plate and a second plate, either of the first plate and the second plate comprising a plurality of openings to provide access to a surface of the inner plate, the method comprising: positioning an instrument including a first tracking device such that a distal end of the instrument is disposed within a first opening of the plurality of openings and abuts the surface of the inner panel; repositioning the instrument so that the distal end of the instrument is disposed within a second opening of the plurality of openings and abuts the surface of the inner panel; determining an actual position and orientation of the surgical saw blade based at least on the positions of the first opening and the second opening identified using the instrument; determining an expected position and orientation of the surgical saw blade based on predetermined geometric data corresponding to a relationship between mounting features of a surgical manipulator and locations of the plurality of openings in the first plate or the second plate of the surgical saw blade; as well as The expected positions and orientations of the plurality of openings are compared to the actual positions and orientations of the plurality of openings.

44. The method of claim 43, wherein: The method further includes the step of removably securing the surgical saw blade to the mounting feature of the surgical manipulator.

45. The method of claim 43 or 44, wherein: The method also includes the step of repositioning the instrument so that the distal end of the instrument contacts a reference feature disposed on at least one of the mounting feature and the surgical manipulator to assist in determining the position and orientation of the surgical saw blade relative to the mounting feature or the surgical manipulator.

46. ​​A method of confirming the position and / or orientation of a surgical saw blade within a known coordinate system defined by a navigation system, the surgical saw blade being coupled to a surgical manipulator via a mounting feature and comprising a guide rod having a plurality of markings on an outer surface of the guide rod, the method comprising: manipulating an instrument including a first tracking device so that a distal end of the instrument contacts each of the plurality of markings on the outer surface of the guide rod; repositioning the instrument so that the distal end of the instrument contacts one of the plurality of markings on the outer surface of the guide rod; determining an actual position and orientation of each of the markers within the known coordinate system based at least on a pose of the instrument when contacting each of the markers; determining an expected position and orientation of the marker within the known coordinate system based on predetermined geometric data; comparing the expected position and orientation of each of the plurality of markers to the actual position and orientation of each of the plurality of markers; assigning a modified position based on a deviation between the expected position and orientation based on the predetermined geometric data and the actual position of each of the plurality of markers; as well as Based on the modified position, a plane of the surgical saw blade within the known coordinate system is defined.

47. The method of claim 46, wherein: Each of the plurality of markings is disposed on the outer surface of the guide rod such that the plurality of markings outline a portion of an outer perimeter of the mounting feature of the surgical manipulator on the outer surface of the guide rod; and Wherein, the step of repositioning the distal end of the instrument from the first mark to the second mark also includes manipulating the instrument along the outer surface of the guide rod from the first mark to the second mark, thereby tracing the portion of the outer perimeter of the mounting feature to the outer surface of the guide rod.

48. The method of claim 47, wherein: The plurality of markings are connected by a path defined by optical markings on the outer surface of the guide bar; and Wherein, the step of dragging the distal end of the instrument along the outer surface of the guide rod from the first mark to the second mark further comprises dragging the distal end along the outer surface of the guide rod along a defined path.

49. The method of any one of claims 46 to 48, wherein: The method further includes the step of removably securing the surgical saw blade to the mounting feature of the surgical manipulator.

50. The method of any one of claims 46 to 49, wherein: The method also includes the step of repositioning the instrument so that the distal end of the instrument contacts a reference feature disposed on at least one of the mounting feature and the surgical manipulator to assist in determining the position and orientation of the surgical saw blade relative to the mounting feature or the surgical manipulator.

51. The method of any one of claims 46 to 50, wherein: The step of determining the expected position and orientation of the first and second markers within the known coordinate system includes utilizing predetermined geometric data corresponding to the relationship between the mounting feature of the surgical manipulator and the guide rod.

52. A method of operating a saw blade using a navigation system, the surgical saw blade comprising a guide bar, the guide bar comprising three plates and at least three markings disposed on the guide bar, the method comprising: mounting a surgical saw blade to a surgical manipulator, the surgical manipulator comprising a first tracking device; bringing each of the at least three markings on the surgical saw blade into contact with a distal end of an instrument, the instrument comprising a second tracking device; When the distal end of the instrument contacts each of the at least three marks on the surgical saw blade, tracking the position of the first tracking device and the second tracking device using the localizer of the navigation system to define the actual position of each of the at least three marks relative to a known coordinate system; performing a mathematical fit between the actual position of each of the at least three markers and an expected position of each of the at least three markers relative to the known coordinate system; as well as determining a hybrid position within a known coordinate system based on a product of the mathematical fit for each of the at least three markers; as well as A plane of the surgical saw blade is defined based on the blended position of each of the at least three landmarks within the known coordinate system.

53. The method of claim 52, wherein: The method further includes contacting a reference point on the surgical manipulator with the distal end of the instrument to define an actual position of the reference point relative to the first tracking device of the surgical manipulator; wherein the step of performing the least squares fit further comprises combining the actual position of the reference point with the actual position of each of the at least three landmarks and comparing it with an expected position of each of the at least three landmarks and the reference point relative to the first tracking device of the surgical manipulator; and Based on the product of the least squares fit, the positions of the at least three markers within the known coordinate system are modified.

54. The method of claim 52, wherein: The at least three markings include at least three holes, each of the holes being defined in the outer plate of the guide bar to provide access to the surface of the inner plate; as well as Wherein, the step of contacting each of the at least three marks on the surgical saw blade includes placing the distal end of the instrument in each of the three holes to contact the surface of the inner plate at the location of each of the holes.

55. The method of claim 54, wherein: The distal end of the instrument includes a spherical tip sized to fit within each of the holes defined in the outer plate of the guide rod.

56. The method of claim 54, wherein: The distal end of the instrument includes a tip having a first dimension that is smaller than a second dimension of each of the apertures defined in the outer plate of the guide rod.

57. The method of claim 52, wherein: The method also includes comparing the product of the least squares fits to a target least squares fit; Wherein, if the deviation between the product of the least squares fit and the target least squares fit exceeds an acceptable margin defined by the navigation system, the surgical manipulator will be rendered inoperable.

58. A method of registering a saw blade within a known coordinate system of a navigation system, the surgical saw blade comprising a guide bar, the guide bar comprising three plates and at least three holes defined in an outer plate of the guide bar to provide access to an inner plate, the method comprising: mounting a surgical saw blade to a surgical manipulator, the surgical manipulator comprising a first tracking device; manipulating an instrument including a second tracking device so that a distal end of the instrument passes through each of the at least three holes and contacts the inner plate exposed by each of the holes; When the distal end of the surgical instrument contacts the inner plate through each of the at least three holes on the surgical saw blade, tracking the positions of the first tracking device and the second tracking device using the localizer of the navigation system to define the actual position of each of the at least three holes relative to the first tracking device of the surgical manipulator; defining an actual position within the known coordinate system of the portion of the inner plate exposed by each of the at least three holes based on the tracked position of the instrument as it contacts the inner plate through each of the at least three holes; comparing an expected position of the portion of the inner plate exposed by each of the at least three holes within the known coordinate system with the actual position of the portion of the inner plate exposed by each of the at least three holes within the known coordinate system; modifying the position of the portion of the inner plate exposed by each of the at least three holes within the known coordinate system based on a deviation between the actual position of the portion of the inner plate exposed by each of the at least three holes within the known coordinate system and the expected position; as well as A plane of the surgical saw blade is defined based on the modified position of the portion of the inner plate exposed by each of the at least three holes within the known coordinate system.

59. A method of registering a saw blade within a known coordinate system of a navigation system, the saw blade comprising a guide bar, the guide bar comprising three plates and at least three reference features disposed on the guide bar, the method comprising: mounting a surgical saw blade to a surgical manipulator, the surgical manipulator comprising a first tracking device; contacting each of the at least three reference features on the surgical saw blade with a distal end of a surgical instrument, the surgical instrument comprising a second tracking device; tracking the position of the first tracking device and the second tracking device using a localizer of the navigation system when the distal end of the surgical instrument contacts each of the at least three reference features on the surgical saw blade to define an actual position of each of the at least three reference features relative to the first tracking device of the surgical manipulator; performing a mathematical fit based on an actual position of each of the at least three reference features relative to the known coordinate system and an expected position of each of the at least three reference features relative to the known coordinate system; and determining, based on the mathematical fit, a mixed position of the at least three reference features within the known coordinate system; as well as Based on the blended positions of the at least three reference features within the known coordinate system, a plane of the surgical saw blade is defined.

60. The method of claim 59, wherein: The at least three reference features are defined on an outer surface of the guide rod; as well as Wherein, the step of bringing each of the at least three reference features on the surgical saw blade into contact with the distal end of the surgical instrument includes bringing the distal end of the surgical instrument into contact with each of the at least three reference features on the outer surface of the guide rod.

61. The method of claim 59, wherein: The at least three reference features are defined on a surface of an inner plate of the guide bar, and the outer plate of the guide bar includes holes corresponding to the locations of each of the at least three reference features on the inner plate, each of the holes terminating at a location of one of each of the at least three reference features on the inner plate to provide access to the reference features; as well as Wherein, the step of bringing each of the at least three reference features on the surgical saw blade into contact with the distal end of the surgical instrument includes inserting the distal end of the surgical instrument through each of the holes in the outer plate to contact each of the at least three reference features of the inner plate of the guide rod.

62. A method of controlling a handheld medical robotic system for use with a surgical saw blade, the surgical saw blade comprising a guide bar, the guide bar comprising an inner plate partially disposed between a first plate and a second plate, either of the first plate and the second plate comprising a plurality of openings to provide access to a surface of the inner plate, the method comprising: registering the surgical saw blade to a navigation system, the step of registering the surgical saw blade comprising manipulating an instrument including a first tracking device to insert a distal end of the instrument into each of the plurality of openings to contact the surface of the inner plate at each location of the plurality of openings to define a plane of the surgical saw blade within a first coordinate system relative to a second tracking device coupled to the handheld medical robotic system; as well as Based on the position and orientation of the second tracking device, the surgical saw blade is navigated.

63. A method of controlling a handheld medical robotic system for use with a surgical saw blade, the surgical saw blade comprising two reference features disposed on an outer surface of a guide bar of the surgical saw blade and an optical marker on the surface of the guide bar extending between the two reference features, the method comprising: registering the surgical saw blade to a navigation system, the step of registering the surgical saw blade comprising manipulating an instrument having a first tracking device to contact the surface of the guide bar with a distal end of the instrument to track the optical marker extending between the two reference features to define a plane of the surgical saw blade within a first coordinate system relative to a second tracking device coupled to the handheld medical robotic system; as well as Based on the position and orientation of the second tracking device, the surgical saw blade is navigated.

64. A surgical saw system, the system comprising: A surgical device comprising a mounting seat, the mounting seat defining a mounting surface, and the mounting seat comprising: a first wall and a second wall extending above the mounting surface, the first wall and the second wall being positioned on opposite sides of a longitudinal axis of the mount; The first wall and the second wall each have a proximal portion and a distal portion, the proximal portion being oriented at a first internal taper angle relative to the longitudinal axis of the mount and the distal portion being oriented at a second internal taper angle relative to the longitudinal axis of the mount; wherein, relative to the longitudinal axis of the mounting seat but not the first taper, the second inner taper angle is greater than the first inner taper angle; at least one tab disposed on each of the first wall and the second wall, each of the at least one tab being located above and extending beyond the mounting surface; A saw blade bracket, the saw blade bracket being removably coupled to the mounting base of the surgical device, the saw blade bracket comprising: A guide rod, the guide rod comprising a distal portion and a proximal portion, the guide rod comprising: First board; Second board; an inner panel, the inner panel being partially disposed between the first panel and the second panel; wherein one of the first plate and the second plate defines an outer edge of a proximal portion of the guide rod; wherein the proximal portion of each of the first wall and the second wall engages the outer edge of the proximal portion of the guide bar to facilitate alignment of the saw blade bracket along the longitudinal axis; wherein the distal portion of the wall is spaced apart from the outer edge of the proximal portion of the guide rod; and A lower surface of each of the at least one tab is disposed above a top surface of the inner panel.

65. A surgical saw system, the system comprising: A surgical device comprising a mounting seat, the mounting seat defining a mounting surface, and the mounting seat comprising: a first wall and a second wall extending above the mounting surface, the first wall and the second wall being positioned on opposite sides of a longitudinal axis of the mount; the first wall and the second wall being inclined relative to the longitudinal axis of the mount; at least one tab disposed on each of the first wall and the second wall, each of the at least one tab being positioned above and extending beyond the mounting surface; A saw blade bracket, the saw blade bracket being removably coupled to the mounting base of the surgical device, the saw blade bracket comprising: A guide rod, the guide rod comprising a distal portion and a proximal portion, the guide rod comprising: a first plate and a second plate, at least one of the first plate and the second plate defining a first outer edge of the proximal portion of the guide rod; and an inner plate disposed partially between the first plate and the second plate, the inner plate defining a pivot surface and a second outer edge of a portion of the proximal portion of the guide rod; wherein the second outer edge of the inner plate extends beyond the first outer edge defined by the first plate, and the second outer edge is configured to engage with the first wall and the second wall of the surgical device to help align the saw blade bracket within the mounting seat of the surgical device.

66. A saw blade bracket for use with a surgical device, the saw blade bracket comprising: A guide rod, the guide rod comprising a distal portion and a proximal portion, the guide rod comprising: First board; a second plate disposed adjacent to the first plate, the second plate defining a pivot surface; a saw blade extending distally from the distal portion of the guide rod, the saw blade comprising: a saw blade body including a proximal end and a distal end; and a saw blade head disposed on the distal end of the saw blade body, the saw blade head being formed with teeth, wherein the proximal end of the saw blade body abuts the pivot surface; wherein the proximal portion defines a proximal end; wherein the first plate defines a first outer edge, wherein the second plate defines a second outer edge, the second outer edge extends beyond the first outer edge defined by the first plate, and the second outer edge is inclined outwardly so as to move distally from the proximal end of the proximal portion toward the distal end of the proximal portion, so that the second outer edge helps align the saw blade bracket with the surgical device.

67. A saw blade bracket for use with a surgical device, the saw blade bracket comprising: A guide rod, the guide rod comprising a distal portion and a proximal portion, the guide rod comprising: a first plate defining a first outer edge of the proximal portion; a second plate disposed adjacent to the first plate, the second plate defining a pivot surface and a second outer edge of the proximal portion of the guide rod, wherein the second outer edge extends beyond the first outer edge defined by the first plate, the second outer edge being configured to engage with the surgical device to help align the saw blade bracket with the surgical device, a saw blade extending distally of the distal portion of the guide rod, the saw blade comprising: A saw blade body includes a proximal end configured to abut the pivot surface.

68. The saw blade bracket of claim 67, wherein: The guide bar further includes a third plate, and the second plate is at least partially disposed between the first plate and the third plate.

69. A saw blade bracket as claimed in claim 67 or 68, wherein: The first plate defines a reference feature configured to facilitate determining a position and / or orientation of the surgical saw blade using a navigation system.

70. The saw blade bracket of claim 68, wherein: One of the first plate and the third plate defines a reference feature configured to facilitate determining a position and / or orientation of the surgical saw blade using a navigation system.

71. The saw blade bracket of claim 68, wherein: Each of the first plate and the third plate defines at least one reference feature, and a combination of the reference features are configured to facilitate determining a position and / or orientation of the surgical saw blade within a known coordinate system of a navigation system.

72. The saw blade bracket of claim 71, wherein: The reference feature is disposed on each of the first plate and the third plate such that the reference features of the first plate and the third plate are mirror images of each other.

73. The saw blade bracket of claim 71, wherein: The reference features are positioned on each of the first plate and the third plate such that the reference features are concentrically aligned with each other.

74. The saw blade bracket of claim 69 or 70, wherein: The reference feature is defined by a hole having a first size, the first size being configured to be smaller than a second size of a tip of a surgical instrument associated with the navigation system, the navigation system being used to engage the reference feature to assist in determining the position and / or orientation of the surgical saw blade relative to the navigation system.

75. The saw blade bracket of claim 67 or 68, wherein: At least one of the second plate and the saw blade body further comprises a reference feature configured to facilitate determining a position and / or orientation of the surgical saw blade using a navigation system; as well as The first plate is shaped to provide access to the reference feature of at least one of the second plate and the saw blade body.

76. The saw blade bracket of claim 69 or 75, wherein: The reference features are selected from the group consisting of optical marks, pits or holes.

77. A saw blade carriage for use with a surgical device guided by a navigation system, the saw blade carriage comprising: A guide rod, the guide rod comprising a distal portion and a proximal portion, the guide rod comprising: a first plate defining a first aperture; a second plate defining a second aperture; and an inner plate disposed partially between the first plate and the second plate, the inner plate defining a pivot surface; wherein the first hole and the second hole are configured to facilitate determining the position and / or orientation of the guide rod using a navigation system; a saw blade extending distally from the distal portion of the guide rod, the saw blade comprising: a saw blade body including a proximal end configured to abut the pivot surface; wherein the proximal portion defines a proximal end; Wherein, the first plate and the second plate are positioned such that the first hole and the second hole are concentrically aligned.

78. The saw blade bracket of claim 77, wherein: The first hole and the second hole are defined on opposite sides of the inner plate.

79. A saw blade bracket as claimed in claim 77 or 78, wherein: The first hole and the second hole are defined on opposite sides of the guide rod.

80. The saw blade bracket of any one of claims 77 to 79, wherein: Each of the apertures defines a reference feature that can be identified by the navigation system to facilitate determining the position and / or orientation of the surgical saw blade within a known coordinate system.

81. A saw blade bracket as claimed in any one of claims 77 to 80, wherein: Each of the holes further includes an indicia identifying the hole as a reference feature, the indicia comprising at least one of a laser mark, etching, color, engraving, symbol, or bevel.

82. A saw blade bracket as claimed in any one of claims 77 to 81, wherein: The guide rod includes a longitudinal axis extending between the distal portion and the proximal portion of the guide rod, the longitudinal axis bisecting the guide rod; as well as wherein each of the first plate and the second plate defines a plurality of holes, and at least one of the plurality of holes defined by each of the first plate and the second plate is positioned on opposite sides of the longitudinal axis of the guide rod.

83. A saw blade bracket as claimed in any one of claims 77 to 81, wherein: The guide rod includes a longitudinal axis extending between the distal portion and the proximal portion of the guide rod, the longitudinal axis bisecting the guide rod; and Wherein, each of the first hole and the second hole is positioned on the longitudinal axis of the corresponding plate of the guide rod.

84. A saw blade carriage for use with a surgical device, the surgical device comprising a tracker identifiable by / associated with a navigation system, the saw blade carriage comprising: A guide rod having a distal portion and a proximal portion, the guide rod comprising: a first plate defining a first reference feature in the distal portion and a second reference feature in the proximal portion; a second plate defining a third reference feature in the distal portion and a fourth reference feature in the proximal portion; and an inner panel, the inner panel being at least partially disposed between the first panel and the second panel, wherein a combination of reference features can be used to register the saw blade carriage relative to the tracker of the surgical device within the known coordinate system defined by the navigation system, A saw blade, the saw blade being at least partially disposed between the first plate and the second plate, the saw blade comprising: a saw blade body including a proximal end and a distal end; and A saw blade head is arranged on the distal end of the saw blade body, and the saw blade head is formed with teeth.

85. The saw blade bracket of claim 84, wherein: The first and third reference features are positioned in the distal portion of the guide rod, and the second and fourth reference features are positioned in the proximal portion of the guide rod.

86. The saw blade bracket of claim 84, wherein: The guide rod includes a longitudinal axis extending between the distal portion and the proximal portion of the guide rod and bisecting the guide rod; and wherein the first reference feature and the second reference feature of the first plate are positioned on opposite sides of the longitudinal axis; and Wherein the third reference feature and the fourth reference feature of the second plate are positioned on opposite sides of the longitudinal axis.

87. The saw blade bracket of claim 84, wherein: The guide rod includes a longitudinal axis extending between the distal portion and the proximal portion of the guide rod and bisecting the guide rod; as well as wherein at least one of the first reference feature and the second reference feature of the first plate is disposed on the longitudinal axis; and Wherein, at least one of the third reference feature and the fourth reference feature of the second plate is disposed on the longitudinal axis.

88. A surgical saw assembly for use with a navigation system, the assembly comprising: A surgical instrument / device comprising an instrument reference feature; a tracker disposed on the surgical instrument, the tracker being identifiable by the navigation system and / or being associated with the navigation system; A saw blade bracket, the saw blade bracket being removably coupled to the surgical device, the saw blade bracket comprising: A guide rod having a distal portion and a proximal portion, the guide rod comprising: a first plate defining a first reference feature in the distal portion and a second reference feature in the proximal portion; a second plate defining a third reference feature in the distal portion and a fourth reference feature in the proximal portion; and an inner plate disposed at least partially between the first plate and the second plate, the inner plate defining a pivot surface; Therein, a combination of reference features can be used to facilitate registration of the saw blade carriage relative to the tracker of the surgical device within a known coordinate system defined by the navigation system. A saw blade extends from the distal portion of the guide bar.

89. The surgical saw assembly of claim 88, wherein: the first plate comprising a second reference feature; as well as Wherein, the second plate includes a fourth reference feature.

90. The surgical saw assembly of claim 89, wherein: The first and third reference features are positioned in the distal portion of the guide rod, and the second and fourth reference features are positioned in the proximal portion of the guide rod.

91. The surgical saw assembly of claim 89, wherein: The guide rod includes a longitudinal axis extending between the distal portion and the proximal portion of the guide rod and bisecting the guide rod; and wherein the first reference feature and the second reference feature of the first plate are positioned on opposite sides of the longitudinal axis; and Wherein the third reference feature and the fourth reference feature of the second plate are positioned on opposite sides of the longitudinal axis.

92. The surgical saw assembly of claim 89, wherein: The guide rod includes a longitudinal axis extending between the distal portion and the proximal portion of the guide rod and bisecting the guide rod; as well as wherein at least one of the first reference feature and the second reference feature of the first plate is disposed on the longitudinal axis; and Wherein, at least one of the third reference feature and the fourth reference feature of the second plate is disposed on the longitudinal axis.

93. A method of registering a saw blade within a known coordinate system of a navigation system, the surgical saw blade comprising a guide bar, the guide bar comprising three plates and having at least three reference features defined thereon, the method comprising: mounting a surgical saw blade to a surgical manipulator, the surgical manipulator comprising a first tracking device; contacting each of the at least three reference features on the surgical saw blade with a distal end of a surgical instrument, the surgical instrument comprising a second tracking device; tracking the position of the first tracking device and the second tracking device using a localizer of the navigation system when the distal end of the surgical instrument contacts each of the at least three reference features on the surgical saw blade to define an actual position of each of the at least three reference features relative to the first tracking device of the surgical manipulator; defining a plane of the surgical saw blade based on the actual positions of the at least three reference features within the known coordinate system; and.

94. The method of claim 93, wherein: The method further comprises the step of controlling the surgical manipulator based on the defined plane and the target cutting plane.

95. The method of claim 93 or 94, wherein: The defined plane is defined without a priori knowledge of the expected position of the saw blade relative to the surgical manipulator.

96. A method of registering a saw blade within a known coordinate system of a navigation system, the method comprising: mounting a surgical saw blade to a surgical manipulator, the surgical manipulator comprising a first tracking device; contacting each of the at least two reference features on the first surface of the surgical saw blade with a distal end of a surgical instrument, the surgical instrument comprising a second tracking device; contacting each of at least two reference features on a second surface of the surgical saw blade with the distal end of the surgical instrument; tracking the positions of the first tracking device and the second tracking device using a localizer of the navigation system when the distal end of the surgical instrument contacts each of the reference features on both the first surface and the second surface of the surgical saw blade to define an actual position of each of the reference features on the first surface and the second surface relative to the first tracking device of the surgical manipulator; The actual position of each of the reference features is compared to a position of a manipulator reference feature within the known coordinate system to verify that the surgical saw blade is properly mounted to the surgical manipulator.

97. The method of claim 96, wherein: The step of contacting each of at least two reference features on the first surface includes contacting a first reference feature positioned on a proximal portion of the first surface, and contacting a second reference feature positioned on a distal portion of the first surface; as well as Wherein the step of contacting each of the at least two reference features on the second surface includes contacting a third reference feature positioned on a proximal portion of the second surface, and contacting a fourth reference feature positioned on a distal portion of the second surface.

98. The method of claim 96, wherein: The surgical saw blade includes a distal portion and a proximal portion and has a longitudinal axis extending between the distal portion and the proximal portion and bisecting the surgical saw blade; wherein the step of contacting each of the at least two reference features on the first surface comprises contacting a first reference feature positioned on a first portion of the first surface, and contacting a second reference feature positioned on a second portion of the first surface such that the first portion and the second portion are located on opposite sides of the longitudinal axis; and wherein the step of contacting each of the at least two reference features on the second surface comprises contacting a third reference feature positioned on a third portion of the second surface, and contacting a fourth reference feature positioned on a fourth portion of the second surface, such that the third portion and the fourth portion are located on opposite sides of the longitudinal axis.

99. The method of any one of claims 96 to 98, wherein: The method further comprises the following steps: contacting a manipulator reference feature on the surgical manipulator with the distal end of the surgical instrument; and When the distal end of the surgical instrument contacts the manipulator reference feature, the positions of the first tracking device and the second tracking device are tracked using the locator of the navigation system to define the actual position of the manipulator reference feature relative to the first tracking device of the surgical manipulator within the known coordinate system.

100. The method of claim 99, wherein: The method further comprises the steps of: comparing the actual position of the manipulator reference feature within the known coordinate system with the actual position of each of the reference features of the first surface and the second surface within the known coordinate system to define a deviation between the actual position of the manipulator reference feature and the actual position of each of the reference features of the first surface and the second surface; as well as Based on the defined deviation being within an acceptance threshold / range, a determination is made as to whether the surgical saw blade is properly mounted to the surgical manipulator based on a comparison of the actual position of the manipulator reference feature with the actual position of each of the reference features of the first surface and the second surface.

101. The method of any one of claims 96 to 100, wherein: The method further includes defining a tool center point of the surgical saw blade based on the actual position of each of the reference features within the known coordinate system.

102. The method of claim 101, wherein: The method further includes the step of navigating the surgical saw blade via the navigation system based on the defined tool center point of the surgical saw blade.

103. The method of any one of claims 96 to 100, wherein: The method further includes defining a plane of the surgical saw blade based on the actual position of each of the reference features within the known coordinate system.

104. The method of any one of claims 96 to 100, wherein: The method further includes defining a blended position of the manipulator reference feature within the known coordinate system based on a mathematical fit of the actual position of the reference feature of the surgical saw blade and the actual position of a manipulator reference point; Therein, the step of defining the hybrid position of the manipulator reference feature within the known coordinate system based on the mathematical fit causes the hybrid position of the manipulator reference feature to differ from the actual position of the manipulator reference feature in only one degree of freedom.

105. The method of claim 104, wherein: The one degree of freedom is along the longitudinal axis of the surgical saw blade.

106. A method of registering a saw blade within a known coordinate system of a navigation system, the method comprising: mounting a surgical saw blade carriage to a surgical manipulator, the surgical saw blade carriage comprising a guide bar having a first plate disposed adjacent to a second plate and a saw blade disposed at least partially between the first plate and the second plate and extending from a distal end of the guide bar, and the surgical manipulator comprising a first tracking device; contacting each of the at least two reference features on the first plate of the guide rod with a distal end of a surgical instrument, the surgical instrument comprising a second tracking device; contacting each of at least two reference features on the second plate of the guide rod with the distal end of the surgical instrument, each of the reference features of the first plate being concentric with one of the reference features of the second plate; tracking the position of the first tracking device and the second tracking device using a localizer of the navigation system when the distal end of the surgical instrument contacts each of the reference features on both the first plate and the second plate of the surgical saw blade carriage to define an actual position of each of the reference features of the first plate and the second plate relative to the first tracking device of the surgical manipulator; as well as determining a thickness of the bracket based on the actual positions of the reference features on the first plate and the second plate; as well as An indication is provided to a user based on the determined thickness of the bracket.

107. The method of claim 106, wherein: The step of contacting each of at least two reference features on the first plate includes contacting a first reference feature positioned on a proximal portion of the first plate, and contacting a second reference feature positioned on a distal portion of the first plate; as well as Wherein the step of contacting each of the at least two reference features on the second plate includes contacting a third reference feature positioned on a proximal portion of the second plate, and contacting a fourth reference feature positioned on a distal portion of the second plate.

108. The method of claim 107, wherein: The step of determining the thickness of the surgical saw blade further includes the step of defining a first saw blade thickness based on a comparison of the positions of the first reference feature of the first plate and the third reference feature of the second plate.

109. The method of claim 108, wherein: The step of determining the thickness of the surgical saw blade further includes defining a second saw blade thickness based on a comparison of the positions of the second reference feature of the first plate and the fourth reference feature of the second plate.

110. The method of claim 109, wherein: The method further includes calculating a deviation between the first saw blade thickness and the second saw blade thickness; as well as Based on the deviation between the first saw blade thickness and the second saw blade thickness being within an acceptance threshold / range, accepting the registration of the surgical saw blade within the known coordinate system of a navigation system.

111. The method of claim 110, wherein: The deviation between the first saw blade thickness and the second saw blade thickness indicates that the distal portion of the first plate and / or the second plate is deflected when the first plate and / or the second plate contacts any one of the second reference feature and the fourth reference feature.

112. The method of any one of claims 106 to 111, wherein: The step of providing the indication to the user includes at least one of a visual prompt, an auditory prompt and / or a tactile prompt.

113. The method of any one of claims 106 to 112, wherein: The step of providing the indication indicates to the user that the determined thickness is outside of a range or exceeds a defined threshold.

114. The method of any one of claims 106 to 112, wherein: The step of providing the indication indicates to the user that the surgical saw blade needs to be replaced and / or the surgical saw blade needs to be re-registered to the navigation system.

115. The method of claim 106, wherein: The surgical saw blade includes a distal portion and a proximal portion and has a longitudinal axis extending between the distal portion and the proximal portion and bisecting the surgical saw blade; wherein the step of contacting each of the at least two reference features on the first plate comprises contacting a first reference feature positioned on a first portion of the first plate, and contacting a second reference feature positioned on a second portion of the first plate such that the first portion and the second portion are located on opposite sides of the longitudinal axis; and Wherein, the step of contacting each of the at least two reference features on the second plate includes contacting a third reference feature positioned on a third portion of the second plate, and contacting a fourth reference feature positioned on a fourth portion of the second plate, such that the third portion and the fourth portion are located on opposite sides of the longitudinal axis.

116. The method of any one of claims 106 to 115, wherein: The method further comprises the following steps: contacting a manipulator reference feature on the surgical manipulator with the distal end of the surgical instrument; and When the distal end of the surgical instrument contacts the manipulator reference feature, the positions of the first tracking device and the second tracking device are tracked using the locator of the navigation system to define the actual position of the manipulator reference feature relative to the first tracking device of the surgical manipulator within the known coordinate system.

117. The method of claim 116, wherein: The method also includes the step of comparing the actual position of the manipulator reference feature within the known coordinate system with the actual position of each of the reference features of the first plate and the second plate within the known coordinate system to determine whether the surgical saw blade is properly mounted to the surgical manipulator.

118. The method of claim 116, wherein: The method further comprises the steps of: comparing the actual position of the manipulator reference feature within the known coordinate system and the actual position of each of the reference features of the first plate and the second plate within the known coordinate system with an expected position of the manipulator reference feature and the expected position of each of the reference features of the first plate and the second plate to define a deviation; as well as A determination is made as to whether the surgical saw blade is properly mounted to the surgical manipulator based on the deviation and the deviation threshold.

119. The method of any one of claims 106 to 118, wherein: The method further comprises the step of controlling a plurality of actuators of the surgical manipulator based on the defined plane and the target cutting plane.

120. A method of registering a saw blade within a known coordinate system of a navigation system, the method comprising: mounting a surgical saw blade to a surgical manipulator, the surgical manipulator comprising a first tracking device; contacting each of the at least two reference features on the first surface of the surgical saw blade with a distal end of a surgical instrument, the surgical instrument comprising a second tracking device; contacting each of at least two reference features on a second surface of the surgical saw blade with the distal end of the surgical instrument; contacting at least one reference feature on the surgical manipulator; When the distal end of the surgical instrument contacts each of the reference features on both the surgical saw blade and the surgical manipulator, tracking the position of the first tracking device and the second tracking device using the localizer of the navigation system to define the actual position of each of the reference features of the surgical saw blade relative to the reference features of the surgical manipulator; as well as A blended position of each of the at least one reference feature of the surgical manipulator is defined by performing a mathematical fit between the actual position of each of the reference features of the surgical saw blade relative to the at least one reference feature of the surgical manipulator.

121. The method of claim 120, wherein: The step of defining the hybrid position of the at least one reference feature of the surgical manipulator within the known coordinate system based on the mathematical fit is such that the hybrid position of each of the reference features differs from the actual position in only one degree of freedom.

122. The method of claim 120, wherein: The step of defining the hybrid position of the at least one reference feature of the surgical manipulator within the known coordinate system based on the mathematical fit causes the actual position of each of the at least one reference feature of the surgical manipulator to move in only one degree of freedom.

123. The method of claim 121 or 122, wherein: The one degree of freedom is along the longitudinal axis of the surgical saw blade.

124. The method of any one of claims 120 to 123, wherein: The method further comprises: comparing the actual position of the at least one reference feature of the manipulator to the actual position of each of the reference features of the surgical saw blade; and Based on the deviation of the actual position of the at least one reference feature of the manipulator and the actual position of each of the reference features of the surgical saw blade being within an acceptance threshold / range, it is determined whether the surgical saw blade is properly mounted to the surgical manipulator.

125. The method of any one of claims 120 to 123, wherein: The method further comprises: Rejecting registration of the surgical saw blade within the known coordinate system of the navigation system based on a deviation of the actual position of the at least one reference feature of the manipulator from the actual position of each of the reference features of the surgical saw blade being within an acceptance threshold / range.

126. The method of claim 124 or 125, wherein: The acceptance threshold for a deviation between the actual position of the at least one reference feature of the manipulator and the actual position of each of the reference features of the surgical saw blade is plus or minus one millimeter (+ / - 1 mm).

127. The method of any one of claims 120 to 123, wherein: The method further comprises: comparing the blended position of the at least one reference feature of the manipulator to the actual position of each of the reference features of the surgical saw blade; and Based on the deviation of the blended position of the at least one reference feature of the manipulator and the actual position of each of the reference features of the surgical saw blade being within an acceptance threshold / range, it is determined whether the surgical saw blade is properly mounted to the surgical manipulator.

128. The method of any one of claims 120 to 123, wherein: The method further comprises: Rejecting registration of the surgical saw blade within the known coordinate system of the navigation system based on a deviation of the blended position of the at least one reference feature of the manipulator from the actual position of each of the reference features of the surgical saw blade being within an acceptance threshold / range.

129. The method of claim 127 or 128, wherein: The acceptance threshold for a deviation between the blended position of the at least one reference feature of the manipulator and the actual position of each of the reference features of the surgical saw blade is plus or minus one millimeter (+ / - 1 mm).

130. A method of registering a surgical saw blade within a known coordinate system of a navigation system, the method comprising: mounting the surgical saw blade to a surgical manipulator, the surgical manipulator comprising a first tracking device; contacting each of the at least two reference features on the first surface of the surgical saw blade with a distal end of a surgical instrument, the surgical instrument comprising a second tracking device; contacting each of at least two reference features on a second surface of the surgical saw blade with the distal end of the surgical instrument; tracking the positions of the first tracking device and the second tracking device using a localizer of the navigation system when the distal end of the surgical instrument contacts each of the reference features on both the first surface and the second surface of the surgical saw blade to define an actual position of each of the reference features on the first surface and the second surface relative to the first tracking device of the surgical manipulator; Based on a mathematical fit of the positions of the at least two reference features of each of the first surface and the second surface, a position and / or orientation of the surgical saw blade within the known coordinate system is defined in one or more degrees of freedom.

131. The method of claim 130, wherein: The method further comprises the steps of contacting a manipulator reference feature defined on the surgical manipulator with the distal end of the surgical instrument; and defining a blended position of the manipulator reference feature within the known coordinate system based on a comparison of the actual position of each of the reference features of the first and second surfaces relative to the manipulator reference feature; and wherein the tool center point is further defined based on a mathematical fit of the positions of the at least two reference features of each of the first surface and the second surface and the blended position of the manipulator reference feature.

132. The method of claim 130 or 131, wherein: The step of defining the position and / or orientation of the surgical saw blade within the known coordinate system in one or more degrees of freedom includes defining the position and / or orientation of the surgical saw blade within the known coordinate system in up to six (6) degrees of freedom.

133. A method of registering a surgical saw assembly within a known coordinate system of a navigation system, the method comprising: mounting a surgical saw blade to a surgical manipulator, the surgical manipulator comprising a first tracking device; contacting each of the at least two reference features on the first surface of the surgical saw blade with a distal end of a surgical instrument, the surgical instrument comprising a second tracking device; contacting each of at least two reference features on a second surface of the surgical saw blade with the distal end of the surgical instrument; contacting a manipulator reference feature defined on the surgical manipulator with the distal end of the surgical instrument; as well as When the distal end of the surgical instrument contacts each of the reference features on both the first surface and the second surface of the surgical saw blade, tracking the positions of the first tracking device and the second tracking device using the localizer of the navigation system to define an actual position of each of the reference features on the first surface and the second surface and an actual position of the manipulator reference feature relative to the first tracking device of the surgical manipulator; defining a blended position of the manipulator reference feature within the known coordinate system based on a comparison of the actual position of each of the reference features of the first and second surfaces with the actual position of the manipulator reference feature; and The position and / or orientation of the surgical saw assembly within the known coordinate system is defined in at least one degree of freedom based on a mathematical fit of the positions of the at least two reference features of each of the first and second surfaces to the blended position of the manipulator reference feature.

134. The method of claim 133, wherein: The step of defining the position and / or orientation of the surgical saw blade within the known coordinate system in one or more degrees of freedom includes defining the position and / or orientation of the surgical saw blade within the known coordinate system in up to six (6) degrees of freedom.

135. A method of registering a saw assembly within a known coordinate system of a navigation system, the method comprising: mounting a surgical saw blade to a surgical manipulator, the surgical manipulator comprising a first tracking device; contacting each of the at least two reference features on the first surface of the surgical saw blade with a distal end of a surgical instrument, the surgical instrument comprising a second tracking device; contacting each of at least two reference features on a second surface of the surgical saw blade with the distal end of the surgical instrument; contacting a manipulator reference feature defined on the surgical manipulator with the distal end of the surgical instrument; as well as tracking the position of the first tracking device and the second tracking device using a localizer of the navigation system when the distal end of the surgical instrument contacts each of the reference features on the first surface and the second surface of the surgical saw blade to define an actual position of each of the reference features on the first surface and the second surface and the manipulator reference feature relative to the first tracking device of the surgical manipulator; applying a first mathematical fit to the actual positions of the reference features of the first surface and the second surface and the manipulator reference features relative to each other; defining a blended position of the manipulator reference feature based on the first mathematical fit; as well as applying a second mathematical fit to the actual positions of the reference features of the first and second surfaces and the blended positions of the manipulator reference features relative to each other; Based on the second mathematical fit, a position and / or orientation of the surgical saw assembly within the known coordinate system is defined in one or more degrees of freedom.

136. The method of claim 135, wherein: The step of defining said position and / or orientation in one or more degrees of freedom comprises defining said position and / or orientation in up to six (6) degrees of freedom.

137. A method of verifying installation of a surgical saw blade to a surgical manipulator, the method comprising: mounting a surgical saw blade to a surgical manipulator, the surgical manipulator comprising a first tracking device; contacting each of the at least two reference features on the first surface of the surgical saw blade with a distal end of a surgical instrument, the surgical instrument comprising a second tracking device; contacting a manipulator reference feature defined on the surgical manipulator with the distal end of the surgical instrument; as well as applying a mathematical fit to the actual positions of the reference feature of the first surface and the manipulator reference feature relative to each other; An output of the mathematical fit is compared to a threshold value, wherein the output of the mathematical fit relative to the threshold value indicates whether the surgical saw blade is properly mounted to the surgical manipulator.

138. The method of claim 137, wherein: The method further includes the steps of contacting each of at least two reference features on the second surface of the surgical saw blade with the distal end of the surgical instrument; as well as Therein, the step of applying the mathematical fit comprises applying a mathematical fit to the actual position of the reference feature of the second surface in addition to the actual position of the reference feature of the first surface and the manipulator reference feature relative to each other.

139. A method of verifying registration of a surgical saw blade within a known coordinate system of a navigation system, the method comprising: mounting a surgical saw blade to a surgical manipulator, the surgical manipulator comprising a first tracking device; contacting a first reference feature positioned on a proximal portion of a first plate of the surgical saw blade with a distal end of a surgical instrument and contacting a second reference feature positioned on a distal portion of the first plate with the distal end of the surgical instrument, the surgical instrument comprising a second tracking device; as well as contacting a third reference feature positioned on a proximal portion of a second plate of the surgical saw blade with the distal end of the surgical instrument and contacting a fourth reference feature positioned on a distal portion of the second plate with the distal end of the surgical instrument; defining a first saw blade thickness based on a comparison of the positions of the first reference feature of the first plate and the third reference feature of the second plate; defining a second saw blade thickness based on a comparison of the positions of the second reference feature of the first plate and the fourth reference feature of the second plate; calculating a deviation between the first saw blade thickness and the second saw blade thickness; as well as The deviation between the first saw blade thickness and the second saw blade thickness indicates that when the first plate and / or the second plate contacts any one of the second reference feature and the fourth reference feature, the distal portion of the first plate and / or the second plate is deflected.

Images