Surgical handpiece and associated accessories for driving orthopedic pins

Abstract

A surgical power tool assembly is provided. The assembly includes a handpiece and a pin driver attachment coupled to the handpiece. The handpiece includes a motor and a controller for operating the motor. A trigger is movably coupled to the housing of the handpiece. The controller controls the speed of the motor based on the actuated position of the trigger. The output driver is coupled to the motor and is driven by the motor to rotate about an axis. The actuation surface of the trigger is movable relative to the housing such that the actuation surface is closer to the axis in the actuated position than in the unactuated position. The pin driver attachment includes a housing for coupling to the handpiece. The pin driver attachment may include an operating lever for gripping the surgical pin to drive the surgical pin into the bone.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and all benefits of U.S. Provisional Patent Application No. 63 / 457,941 filed on April 7, 2023; and Provisional Patent Application No. 63 / 486,924 filed on February 24, 2023; and Provisional Patent Application No. 63 / 396,506 filed on August 9, 2022; and Provisional Patent Application No. 63 / 396,499 filed on August 9, 2022, the entire contents of which are expressly incorporated herein by reference. Background Art

[0003] Conventional medical and surgical procedures often involve the use of surgical tools and instruments that allow the surgeon to access and manipulate the surgical site. As a non-limiting example, a rotary instrument such as a surgical handpiece assembly for driving surgical pins is often used in conjunction with an orthopedic procedure (surgery) to drive the surgical pins into the bone. Conventional surgical handpiece assemblies have a "pistol grip" configuration. In procedures employing such surgical handpiece assemblies, it may be difficult for the user to properly orient the surgical handpiece to drive the surgical pins into the bone without repositioning them or the patient.

[0004] While surgical handpiece assemblies for driving surgical pins are commonly used to assist in performing a variety of different types of medical and / or surgical procedures, there is a continuing need in the art for improvements in such surgical handpiece assemblies. Summary of the invention

[0005] A first aspect of the present disclosure provides a surgical power tool assembly for driving surgical pins such as orthopedic pins. The surgical power tool assembly includes a surgical handpiece, the surgical handpiece having: a handpiece housing; an electric motor, the electric motor is positioned in the handpiece housing; a controller, the controller is positioned in the handpiece housing; a battery, the battery is removably connected to the handpiece housing and is configured to supply power to the controller; a trigger, the trigger is movably connected to the handpiece housing, the trigger has an actuation surface that can move between an actuated position and an unactuated position, wherein the controller is configured to control the speed of the motor based on the actuation position of the trigger; and an output drive, the output drive is connected to the electric motor and is configured to be driven by the electric motor to rotate around an axis, wherein the actuation surface is closer to the axis in the actuated position than in the unactuated position. The assembly also includes a pin driver attachment, the pin driver attachment including: an attachment housing for removably coupling to the handpiece housing; an actuator movably coupled to the attachment housing; a collet operable in a clamped state and an unclamped state, the collet being operable to engage a surgical pin when in the clamped state, wherein the actuator is operatively coupled to the collet, wherein the actuator moves between a first position and a second position, wherein the collet is in the clamped state when the actuator is in the first position, and wherein the collet is in the unclamped state when the actuator is in the second position.

[0006] The second aspect of the present disclosure provides a surgical power tool assembly for driving a surgical pin. The surgical power tool assembly includes a surgical handpiece, which has: a handpiece housing; an electric motor, which is positioned in the handpiece housing; a controller, which is positioned in the handpiece housing; a battery, which is removably connected to the handpiece housing and is configured to supply power to the controller; a trigger, which is movably connected to the handpiece housing, and the trigger has an actuation surface that can move between an actuated position and an unactuated position, wherein the controller is configured to control the speed of the motor based on the actuation position of the trigger; and an output driver, which is connected to the electric motor and is configured to be driven by the electric motor to rotate around an axis, wherein the actuation surface is closer to the axis in the actuated position than in the unactuated position. The assembly also includes a pin driver attachment for driving a surgical pin.

[0007] A third aspect of the present disclosure provides a surgical power tool assembly. The surgical power tool assembly includes a surgical handpiece, which has: a handpiece housing; an electric motor, which is positioned in the handpiece housing; a controller, which is positioned in the handpiece housing; a battery, which is removably connected to the handpiece housing and is configured to supply power to the controller; a trigger, which is pivotally connected to the handpiece housing, so that the controller is configured to turn on the electric motor when the trigger is pressed and adjust the speed of the electric motor based on the distance the trigger is pressed; and an output drive, which is connected to the electric motor and is configured to be driven by the electric motor to rotate around an axis. The assembly also includes a pin driver attachment having: an attachment housing for removably coupling to the handpiece housing; an actuator movably coupled to the attachment housing; a collet operable in a clamped state and an unclamped state, the collet being operable to engage a surgical pin when in the clamped state, wherein the actuator is operatively coupled to the collet, wherein the actuator moves between a first position and a second position, wherein the collet is in the clamped state when the actuator is in the first position, and wherein the collet is in the unclamped state when the actuator is in the second position.

[0008] A fourth aspect of the present disclosure provides a surgical power tool assembly for driving a surgical pin. The surgical power tool assembly includes a surgical handpiece having: a handpiece housing; an electric motor positioned in the handpiece housing; a controller positioned in the handpiece housing; a battery removably connected to the handpiece housing and configured to supply power to the controller; a trigger pivotally connected to the handpiece housing so that the controller is configured to turn on the electric motor when the trigger is pressed and adjust the speed of the electric motor based on the distance the trigger is pressed; and an output drive coupled to the electric motor and configured to rotate around an axis driven by the electric motor. The surgical power tool assembly also includes a pin driver attachment for driving a surgical pin.

[0009] A fifth aspect of the present disclosure provides a method for inserting a surgical pin with a surgical power tool assembly. The method includes inserting the surgical pin into a connector. The method also includes grasping the housing with a user's hand so that the user's thumb is closer to the battery than the connector. The method also includes engaging the trigger with the user's finger when the user's thumb is closer to the battery than the connector. The method also includes driving the surgical pin into the bone with the surgical power tool assembly.

[0010] A sixth aspect of the present disclosure provides a method for inserting a pin with a surgical power tool. The method includes grasping a housing of the surgical power tool with a user's hand. The method also includes engaging an operating lever with an index finger of the user's hand to clamp a surgical pin with a chuck. The method also includes engaging a trigger with a finger different from the index finger of the user's hand. The method also includes driving the surgical pin into a bone with the surgical power tool.

[0011] A seventh aspect of the present disclosure provides a method for driving a pin in a robot-assisted knee arthroplasty procedure. The method for driving a pin also includes providing a battery-powered surgical tool. The method also includes connecting a surgical attachment to the battery-powered surgical tool. The method also includes drilling a hole in at least one bone selected from a femur, a tibia, and a patella with a drill using a first driving portion of the surgical attachment. The method also includes driving a first pin in one of the femur, the tibia, or the patella with a second driving portion of the surgical attachment. The method also includes driving a second pin having a diameter different from the first pin in another of the femur, the tibia, or the patella using a third driving portion of the surgical attachment.

[0012] An eighth aspect of the present disclosure provides an electric surgical instrument. The electric surgical instrument includes a housing defining an inner cavity therein, the housing including a handle portion. The instrument also includes a body portion extending distally from the handle portion. The instrument also includes a tool assembly disposed at the distal end of the body portion. The instrument also includes a control circuit and a drive motor disposed in the inner cavity, wherein the drive motor is mechanically coupled to the tool assembly, and the control circuit is configured to control the operation of the drive motor, wherein the control circuit includes a plurality of field effect transistors. The instrument also includes a potting material disposed in the inner cavity, the potting material encapsulating at least a portion of the field effect transistors of the control circuit.

[0013] A ninth aspect of the present disclosure provides an electric surgical instrument. The electric surgical instrument also includes a housing defining an inner cavity therein, the housing including a handle portion. The instrument also includes a body portion extending distally from the handle portion. The instrument also includes a tool assembly disposed at the distal end of the body portion. The instrument also includes a control circuit and a drive motor disposed in the inner cavity, wherein the drive motor is mechanically coupled to the tool assembly, and the control circuit is configured to control the operation of the drive motor, wherein the control circuit includes a plurality of field effect transistors. The instrument also includes a metal heat sink contacting at least two of the plurality of field effect transistors.

[0014] The tenth aspect of the present disclosure provides a method for manufacturing an electric surgical device. The method includes providing a housing for an electric surgical device, the housing defining a cavity, and a control circuit disposed in the housing. The method also includes injecting a liquid potting material into the cavity of the sealed housing to hermetically seal the housing, the control circuit including: a circuit board; a motor controller connected to the circuit board, and one or more field effect transistors optionally connected to the circuit board, and optionally one or more trigger sensors and one or more motor sensors, such as one or more Hall sensors. The method also includes curing the potting material to encapsulate at least a portion of the control circuit, such as encapsulating one or more field effect transistors, a motor controller, a motor sensor, a trigger sensor, and / or a circuit board.

[0015] The eleventh aspect of the present disclosure provides a surgical power tool. The surgical power tool includes a housing. The tool also includes an electric motor positioned in the housing. The tool also includes a connector operatively actuated by the electric motor. The tool also includes a controller positioned in the housing. The tool also includes a battery configured to supply power to the controller, the battery being coupled to the housing. The tool also includes a trigger movably coupled to the housing so that the controller is configured to turn on the electric motor when the trigger is pressed and to adjust the speed of the electric motor based on the distance the trigger is pressed. The connector defines an axis. The trigger defines an actuation surface and moves between an actuated position and an unactuated position. The actuation surface is closer to the axis defined by the connector in the actuated position than in the unactuated position.

[0016] A twelfth aspect of the present disclosure provides a surgical power tool. The surgical power tool includes a housing including a barrel portion and a handle portion. The tool also includes an electric motor positioned in the housing. The tool also includes a connector operatively actuated by the electric motor. The tool also includes a controller positioned in the housing. The tool also includes a battery configured to supply power to the controller, the battery being coupled to the housing. The tool also includes a trigger movably coupled to the handle portion of the housing so that the controller is configured to turn on the electric motor when the trigger is pressed. The handle portion defines a longitudinal axis. The barrel portion of the housing is operable to rotate around the longitudinal axis of the handle portion.

[0017] A thirteenth aspect of the present disclosure provides a surgical power tool. The surgical power tool includes a housing including a barrel portion and a handle portion. The tool also includes an electric motor positioned in the housing. The tool also includes a connector operatively actuated by the electric motor. The tool also includes a controller positioned in the housing. The tool also includes a battery configured to supply power to the controller, the battery being coupled to the housing. The tool also includes a trigger movably coupled to the handle portion of the housing so that the controller is configured to turn on the electric motor when the trigger is pressed. The handle portion defines an axis. The barrel portion of the housing is operable to rotate around the axis of the handle portion.

[0018] The fourteenth aspect of the present disclosure provides a surgical power tool. The surgical power tool includes a housing. The housing may include a proximal region and a distal region. The housing includes a first attachment coupler in the proximal region and a second attachment coupler in the distal region. The tool also includes an electric motor positioned in the housing. The tool also includes a controller positioned in the housing. The tool also includes a battery configured to supply power to the controller, the battery being coupled to the housing. The tool also includes a trigger movably coupled to the housing, and the controller is configured to turn on the electric motor when the trigger is pressed. The tool also includes a mode switch movably coupled to the housing and movable between a first position and a second position, and the controller is operable to control the motor in a first mode when the mode switch is in the first position, and is operable to control the motor in a second mode when the mode switch is in the second position. The tool also includes a first attachment configured to be driven by the motor when the first attachment is engaged with the first attachment coupler. The tool also includes a second attachment configured to be driven by the motor when the second attachment is engaged with the second attachment coupler. The motor is operable to drive a first attachment when the motor is in the first mode, and the motor is operable to drive a second attachment when the motor is in the second mode.

[0019] A fifteenth aspect of the present disclosure provides a surgical power tool. The surgical power tool includes a housing. The tool also includes an electric motor positioned in the housing. The tool also includes a connector operatively actuated by the electric motor. The tool also includes a controller positioned in the housing. The tool also includes a battery configured to supply power to the controller, the battery being coupled to the housing. The tool also includes a first trigger movably coupled to the housing such that the controller is configured to turn on the electric motor when the first trigger is pressed. The tool also includes a second trigger movably coupled to the housing such that the controller is configured to turn on the electric motor when the second trigger is pressed. The first trigger is accessible from a grip different from the second trigger.

[0020] The sixteenth aspect of the present disclosure provides a surgical power tool. The surgical power tool includes a housing. The tool also includes an electric motor positioned in the housing. The tool also includes a connector operatively actuated by the electric motor. The tool also includes a controller positioned in the housing. The tool also includes a battery configured to supply power to the controller, the battery being coupled to the housing. The tool also includes a trigger movably coupled to the housing so that the controller is configured to turn on the electric motor when the trigger is pressed and to adjust the speed of the electric motor based on the distance the trigger is pressed. The connector defines an axis. The trigger defines an actuation surface, the trigger being movable between an actuated position and an unactuated position. The actuation surface is closer to the axis defined by the connector in the actuated position than in the unactuated position.

[0021] The seventeenth aspect of the present disclosure provides an electric surgical tool. The electric surgical tool includes a handpiece that defines a void space. The tool also includes an electric motor disposed in the void space. The tool also includes a first printed circuit board disposed in the void space and being rigid, the first circuit board including a trigger sensor and a motor control sensor. The tool also includes a second printed circuit board disposed in the void space and being rigid. The tool also includes a third circuit board disposed in the void space and being rigid. The tool also includes each of the first circuit board, the second circuit board, and the third circuit board defining a plane, wherein the planes of the first, second, and third circuit boards are parallel to each other. The tool also includes a controller configured to adjust the power drawn from the power supply based on user input, the controller being mounted to one of the second printed circuit board and the third circuit board.

[0022] The eighteenth aspect of the present disclosure provides a surgical power tool assembly for driving a surgical pin. The surgical power tool assembly includes a surgical handpiece having a handpiece housing. The assembly also includes an electric motor positioned in the handpiece housing. The assembly also includes a controller positioned in the handpiece housing. The assembly also includes a trigger movably connected to the handpiece housing, the trigger having an actuation surface that can move between an actuated position and an unactuated position, wherein the controller is configured to control the speed of the motor based on the actuation position of the trigger. The assembly also includes an output driver, which is connected to the electric motor and is configured to rotate around an axis driven by the electric motor. The actuation surface is closer to the axis in the actuated position than in the unactuated position. The assembly also includes a pin driver attachment for driving a surgical pin. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Advantages of the present invention will be readily appreciated as they become better understood by reference to the following detailed description when considered in conjunction with the accompanying drawings, in which:

[0024] Figure 1is a perspective view of a surgical system including a surgical handpiece and a surgical attachment.

[0025] Figure 2 is another perspective view of a surgical system including a surgical handpiece and a surgical attachment.

[0026] Figure 3 is a front view of the surgical system.

[0027] Figure 4 is a cross-sectional view of a surgical system in which a lever of a surgical attachment is shown in a first position.

[0028] Figure 5 is a cross-sectional view of a surgical system with a lever of a surgical attachment shown in a second position.

[0029] Figure 6 is a cross-sectional view of a surgical handpiece of a surgical system with the trigger in a first position.

[0030] Figure 7 is a cross-sectional view of a surgical handpiece of a surgical system with the trigger in a second position.

[0031] Figure 8 is an exploded view of a surgical handpiece.

[0032] Fig. 9 is a perspective view of the surgical attachments and pins of the surgical system.

[0033] Fig.10 Is from Fig. 9 Cross-sectional view of a surgical attachment and pin.

[0034] Fig.11 Is from Fig. 9 Cross-sectional view of a surgical attachment.

[0035] Fig.12 is a cross-sectional view of an alternative embodiment of a surgical attachment for a surgical system.

[0036] Fig.13 is a front view of the pin driver attachment of the surgical system.

[0037] Fig.14 is a cross-sectional view of a first embodiment of a pin driver attachment.

[0038] Fig.15 is a cross-sectional view of a second embodiment of a pin driver attachment.

[0039] Fig.16 is a cross-sectional view of a third embodiment of a pin driver attachment.

[0040] Fig.17Ais a perspective view of a printed circuit board assembly.

[0041] Fig. 17B is another perspective view of a printed circuit board assembly.

[0042] Fig.18 is another perspective view of a printed circuit board assembly.

[0043] Fig.19 is a front view of a printed circuit board assembly in another configuration.

[0044] Fig. 20 is a perspective view of a printed circuit board assembly including a heat sink.

[0045] Fig.21 is a perspective view of a printed circuit board assembly including another heat sink.

[0046] Fig. 22 is a perspective view of another configuration of a printed circuit board assembly including a potting material.

[0047] Fig.23 A side elevation view of one configuration of a printed circuit assembly disposed within an enclosure of a surgical handpiece.

[0048] Fig.24 is a perspective view of another embodiment of a surgical power tool assembly having multiple surgical attachments.

[0049] Fig.25 is a perspective view of another embodiment of a surgical power tool assembly having multiple surgical attachments that can be configured in different orientations.

[0050] Fig.26 is a perspective view of another embodiment of a surgical power tool assembly having multiple surgical attachments that can be configured in different orientations.

[0051] Fig.27A is a perspective view of another embodiment of a surgical power tool assembly in a first configuration.

[0052] Fig.27B yes Fig.27A A perspective view of a specific embodiment of a surgical power tool assembly in a second configuration.

[0053] Fig.27C yes Fig.27A and 27B A perspective view of a specific embodiment of a surgical power tool assembly in a third configuration.

[0054] Fig.28 is a perspective view of another surgical power tool assembly.

[0055] Fig.29A is a front view of another surgical power tool assembly.

[0056] Fig.29B is a front view of another surgical power tool assembly.

[0057] Fig. 30A is a side elevation view of another configuration of a surgical power tool assembly.

[0058] Fig. 30B is a side elevation view of another configuration of a surgical power tool assembly.

[0059] Fig.31 is a perspective view of another configuration of a surgical power tool assembly.

[0060] Fig.32 yes Fig.31 A cross-sectional view of a surgical power tool assembly.

[0061] Fig.33 is a perspective view of another configuration of a surgical power tool assembly.

[0062] Fig.34 yes Fig.33 A cross-sectional view of a surgical power tool assembly. DETAILED DESCRIPTION

[0063] refer to Figure 1, a surgical power tool assembly 98 of a surgical system 96 is envisioned. The surgical power tool assembly 98 may be referred to as a surgical handpiece assembly. An exemplary surgical power tool assembly is described in U.S. Patent Publication No. 2016 / 0206327. The power tool assembly may include a surgical handpiece having a housing 100, an electric motor 102 positioned in the housing 100, and an output driver 104, which is operatively coupled to the electric motor 102 and actuated by the electric motor so that the output driver 104 is driven by the motor 102 to rotate around the output driver axis AX. The output driver 104 may be configured to engage any suitable surgical end effector, such as a surgical pin or wire, or a drill, or a driver. The power tool assembly may also include a controller 106. The controller 106 may optionally be positioned within the housing 100. The surgical power tool assembly may optionally include a removable battery 108, which is configured to supply power to the controller and to the electric motor 102. A battery that can be used with this form of the invention is described in U.S. Patent Application Publication No. 2007 / 0090788, published on April 26, 2007, which is incorporated herein by reference. The battery 108 can be configured to be connected to the housing via a twist lock design. A suitable example of such a battery is described in U.S. Patent No. 11,534,181, published on December 27, 2022, which is incorporated herein by reference in its entirety. The trigger 110 can be movably connected to the housing 100, and a suitable trigger sensor can be included in the tool so that the controller 106 is configured to turn on the electric motor 102 and / or adjust the speed of the motor 102 based on the degree to which the trigger 110 is actuated and / or pressed, and thereby adjust the speed of the output drive 104. The output drive 104 can include a gear set 112 disposed between the motor 102 and the tool coupler 114 of the output drive 104 to increase the torque available at the tool coupler 114. In some configurations, the tool coupling 114 can be used to secure surgical pins and / or drill bits to the handpiece, and in other configurations, the tool coupling 114 can be used to secure one or more of the surgical attachments to the handpiece. In one configuration, the controller 106 is configured to adjust the power drawn from the power source (e.g., a battery) based on a user input on the trigger 110. In some configurations, the trigger 110 can be pivotally coupled to the housing 100.

[0064] The hand piece housing 100 can define a void space for receiving the motor 102. The printed circuit board assembly 115 can be disposed in the void space. The printed circuit board assembly 115 can include first, second and third printed circuit boards 116, 118, 120. The first circuit board 116 can include a trigger sensor and a motor control sensor. Each of the first, second and third printed circuit boards 116, 118, 120 can be rigid. In addition, each of the first, second and third circuit boards 116, 118, 120 can define a plane. The planes of each of the first, second and third circuit boards 116, 118, 120 can be parallel to each other and disposed on separate planes, so that the printed circuit boards 116, 118, 120 can be considered to be non-coplanar. The controller 106 can be mounted to one of the second printed circuit board and the third circuit board 118, 120. The first, second and third printed circuit boards 116, 118, 120 can be connected to each other via one or more flexible connectors. In other configurations (see Figure 6-8 ), the printed circuit board assembly 115 may include only the first and second printed circuit boards 116, 118.

[0065] A range of surgical attachments can be used with the surgical power tool assembly 98 contemplated herein. One such surgical attachment is a pin driver attachment 122. The pin driver attachment 122 includes an accessory housing 124 that is removably coupled to the housing 100 of the power tool. The pin driver attachment 122 may also include an actuator 126 that is movably coupled to the attachment housing 124. The actuator 126 may be implemented as an operating lever or a torsion collar. The pin driver attachment 122 may also include a chuck 128 attached to the attachment housing. The chuck 128 may be in a clamped state ( Figure 5 ) and unclamped state ( Figure 4 ) is operated. The collet is operable to engage the surgical pin 130 when in a clamped state and to allow the pin 130 to move relative to the collet 128 in an unclamped state. The actuator 126 is operatively coupled to the collet 128. The actuator 126 is movable between a first position and a second position. In the first position, the collet 128 is in a clamped state. In the second position, the collet 128 is in an unclamped state. A suitable example of a pin driver attachment 122 having a collet-like design for gripping a pin in response to movement of the actuator is described in International Patent Application No. PCT / US2019 / 054093, which is hereby incorporated by reference in its entirety.

[0066] like Figure 4 and Figure 5As shown, the collet 128 may include one or more jaws 129 movably coupled to the attachment housing. The one or more jaws may be moved relative to the attachment housing 124 in response to the position of an actuator 126 (e.g., a lever) such that the one or more jaws 129 are closer to the output drive axis AX in the clamped state of the collet 128 than the one or more jaws 129 are in the unclamped state of the collet to engage a surgical pin.

[0067] As described above, the actuator 126 can be implemented as an operating rod 126. The operating rod 126 can define a recess 132. The trigger 110 can be aligned with the operating rod 126 and the recess 132 so that actuation of the trigger 110 in the recess 132 and actuation of the operating rod 126 occur in a single reference plane. The operating rod 126 can define a pivot end 134 and a free end 136. The operating rod 126 can also include a first bend 138, a second bend 140, and a third bend 142. The first bend 138 and the second bend 140 can be disposed closer to the pivot end 134 than the free end 136. The first bend 138 and the second bend 140 can form an acute angle. The first bend 138 helps create a recess 132 for placing some users' hands. The second bend 140 helps to make the free end 136 of the operating rod 126 closer to the housing 100 so that the user can easily grasp and actuate the operating rod 126. The third bend 142 may be an obtuse angle. The third bend 142 allows one or more fingers of the user to easily grip when the user holds the housing 100 in the palm of his hand. The operating rod 126 may also include a fourth bend 144. The fourth bend 144 may be closer to the free end 136 than the third bend 142. The fourth bend 144 may be an obtuse angle. The fourth bend 144 may be bent away from the housing 100 so that the user's fingers do not slip off the operating rod 126 between the third and fourth bends 142, 144. Collectively, the bends 138, 140, 142, 144 in the operating rod 126 help facilitate placement of a portion of the user's hand in the recess 132 of the operating rod 126 so that the user can operate the trigger 110 and the operating rod 126 simultaneously with a neutral (natural) hand placement (manner). The neutral hand placement is more ergonomic than a conventional pistol grip design.

[0068] refer to Fig. 30A and 30B , an alternative configuration of the operating lever 126 is shown. Fig. 30A The operating lever 126 and Figure 1-5 Specifically, the free end 136 of the operating rod 126 is disposed on the proximal side of the trigger 110. In contrast, Fig. 30B The operating rod 126 in is shorter. Fig. 30BIn the embodiment of the present invention, at least a portion of the trigger 110 is disposed proximal to the free end of the operating rod 126 .

[0069] A method of inserting a pin with a surgical power tool assembly 98 is also disclosed. The method includes depressing an operating lever 126 with an index finger and depressing a trigger 110 with a finger other than the index finger. The operation of the electric motor 102 can be controlled based on the position of the trigger 110, thereby controlling the operation of the output driver 104 of the power tool 98. The chuck 128 can be operable between a clamped and an unclamped state based on the position of the operating lever 126. The user grasps the housing 100 of the surgical power tool assembly 98 with a hammer grip. In other words, the user can grasp the housing 100 so that the user's thumb is closer to the proximal end of the tool 98 and / or the battery 108 than the distal end of the tool 98.

[0070] The trigger 110 can define an actuation surface 146 to be engaged by one or more fingers of a user's hand. During use of the trigger 110, the actuation surface 146 is in the actuation position ( Figure 7 ) and the unactuated position ( Figure 8 ) between. In the actuated position, the controller 106 is configured to control the speed of the motor 102 or otherwise excite the motor 102 to rotate the output driver 104. In the unactuated position, the controller 102 may be configured to turn off the motor 102 so that the output driver 104 is not driven to rotate by the motor 102. The surgical power tool assembly 98 is configured so that the actuation surface 146 is closer to the connector and / or output driver axis AX in the actuated position than in the unactuated position. When the surgical tool 98 is used for different surgical applications, such as when placing surgical pins, this inline (inline) trigger configuration can provide more convenient hand positioning. The trigger 110 can be pivotable relative to the trigger axis TX. The trigger axis TX can optionally be defined by a trigger mounting pin 148. The trigger 110 may include a pivot end connected to the mounting pin and a free end pivotable about the trigger axis TX.

[0071] Another configuration of the surgical handpiece assembly 198 is Fig.33 and 34 . In this configuration, the surgical handpiece assembly 198 includes a first trigger 210a and a second trigger 210b. The first trigger 210a has a first actuation surface 246a. The first trigger 210 is configured to cause the electric motor to cause the output driver 204 to rotate in a first direction about the axis AX. The second trigger 210b has a second actuation surface 246b. The second trigger 210b can be configured to cause the electric motor 202 to cause the output driver 204 to rotate in a second direction opposite to the first direction about the axis AX. Fig.33 and Fig.34In the illustrated configuration, the first trigger 210a and the second trigger 210b are slidably coupled to the housing 200. In other configurations, the first trigger 210a and the second trigger 210b can be pivotally coupled to the housing 200.

[0072] Return to attachment Figure 1-8 , the trigger 110 may include an operation safety switch 150 operably connected to the controller 106. The operation safety switch 150 may be shiftable between at least a first position and a second position. In the first position, the operation of the trigger 110 pivoting about the trigger axis TX may not cause the actuation of the motor 102, and thus the actuation of the output drive 104, and the pin is not rotated. In the second position, the operation of the trigger 110 pivoting about the trigger axis TX may cause the actuation of the motor 102, and in turn cause the actuation of the output drive 104 to rotate the pin. In other configurations, the safety operation switch 150 can be moved to a third position to rotate the pin in the opposite direction.

[0073] The housing 100 may include a base 152 and a protrusion 154 extending from the base 152. The protrusion 154 may be disposed adjacent to the trigger 110 and may extend away from the coupling axis AX to be farther from the coupling axis AX than the actuation surface 146 when the trigger 110 is in the actuated position or the unactuated position. The protrusion 154 may prevent accidental actuation of the trigger 110 when the surgical power tool assembly 98 is resting on a work surface, for example, if the user sets down the surgical tool 98 and the tool rotates slightly, the protrusion 154 will prevent the trigger 110 from moving under the weight or external force of the surgical tool 98. The protrusion 154 may define a cutout portion 156 for receiving the operation safety switch 150 in one or more positions so that the operation safety switch 150 does not interfere with the movement of the trigger 110 relative to the housing 100.

[0074] refer to Figure 9-11 , shows another configuration of a pin driver attachment 322. The pin driver attachment may include an input shaft 358 defining features for receiving torque from an output driver 304 of a hand piece 298. The pin driver attachment may include a first drive portion having a first hole 360, a second drive portion having a second hole 362, and a third drive portion having a third hole 363. The first hole 360 ​​may be coaxial with the second hole 362 and the third hole 363. The first hole 360 ​​may be smaller than (e.g., having a different or smaller cross-sectional area) the second hole 362, and the second hole 362 may be smaller than the third hole 363. One or more tool couplers 364a, 364b may be coupled to the input shaft 358. The tool couplers 364a, 364b may be movable between an engaged position and an unengaged position. In Fig.11In the configuration shown, one of the tool couplers 364a includes a collar for securing a pin to the third hole 363, and the other tool coupler 364b includes one or more magnets offset to the center of the first and second holes 360, 362 to secure a pin comprising a ferrous material to the first and second holes 360, 362 of the pin driver attachment 322. In the engaged position, a drill bit or pin may be secured in the tool couplers 364a, 364b. The third drive portion may be used to drive a twist drill. The first and second drive portions may be used to drive two different surgical pins. In the unengaged position, the drill bit or pin may be released from the tool couplers 364a, 364b. The first hole 360 ​​may include a plurality of flat portions for driving a drill bit or surgical pin. The second hole 362 may include a plurality of flat portions for driving a drill bit or surgical pin. See Fig.31 and Fig.32 , pin driver attachment 322, rather than Figure 1 The illustrated pin driver attachment 122 is shown coupled to the surgical power tool assembly 98 .

[0075] refer to Fig.12 , another pin driver attachment 422 is provided. The pin driver attachment 422 may include an input shaft 458 that defines features for receiving torque from the output driver 404 of the handpiece 398. The pin driver attachment may also include a first hole 460 and a second hole 462. The first hole 460 is coaxial with the second hole 462. The first hole 460 is smaller than the second hole 462. One or more tool couplers 464a, 464b are fixed to the input shaft 458. The tool couplers 464a, 464b are movable between an engaged position and an unengaged position. One of the tool couplers 464a includes a collar for fixing a pin to the second hole 462, and the other tool coupler 464b includes an O-ring for fixing a pin in the first hole 460. In the engaged position, a drill bit or a pin may be fixed in the tool couplers 464a, 464b. In the unengaged position, the drill bit may be released from the tool couplers 464a, 464b. The first hole 460 may include a plurality of flat portions. The second hole may include a plurality of flats. A surgical pin including at least six flats may be received through the second hole.

[0076] Figure 13-16 Various pin driver attachments are shown having the same input shaft 558, 658, 758 and different holes to receive pins having different diameters and / or coupling configurations. Using these attachments, the same input shaft 558, 658, 758 of different pin driver attachments can be connected to the same input shaft 558, 658, 758 while allowing different pins to be attached to the same input shaft 558, 658, 758. Figure 13-16The different pin driver attachments shown in , promote a better workflow. The input shaft 558, 658, 758 can be coupled to the surgical attachment 322, 422 or to the tool coupler 114 described above.

[0077] A method for driving a pin in a robot-assisted knee arthroplasty procedure is also envisioned. The method includes providing a battery to a surgical power tool assembly 98. A surgical attachment 122 (such as a pin driver attachment 122) is connected to the surgical power tool assembly 98. A hole is drilled in the femur, tibia, or patella of the patient using the surgical attachment 122 with a first drill. A first pin is driven in the femur, tibia, or patella with the surgical attachment. A second pin is driven in one of the other bones in the femur, tibia, and patella with the surgical attachment. The first pin may have a diameter different from the second pin. The pin may be used to fix a navigation tracker (not shown) to the patient's bone. Using the same surgical attachment 122 for each pin helps to make the workflow more efficient by saving time during the procedure, because multiple surgical attachments do not have to be used and the number of parts that need to be sterilized is reduced. In addition, the stacking of parts is smaller, which reduces the distance between the position where the pin / tool / drill is connected to the surgical power tool assembly 98 and the position where the user grips the surgical power tool assembly 98.

[0078] Another method of inserting a pin is also contemplated. The method includes grasping the housing 100 of the surgical power tool assembly 98 with the hand of the user. The user can grasp the housing 100 in a hammer-like grip. The user can grasp the housing 100 so that the user's thumb is closer to the proximal end of the surgical power tool assembly 98 than the distal end of the surgical power tool assembly 98. The method also includes engaging the operating lever 126 with the index finger of the user's hand to clamp the surgical pin with the chuck 128. The method also includes engaging (e.g., by pressing) the trigger 110 with a finger different from the index finger of the user's hand. The method also includes driving the surgical pin into the bone with the surgical power tool assembly 98. When the user's thumb is closer to the battery 108 of the surgical power tool assembly 98 than the index finger is to the battery 108, the user can engage the operating lever 126 with the index finger.

[0079] Another method of inserting a pin is also contemplated. The method may include inserting a surgical pin into a connector of a surgical power tool assembly 98. The method also includes grasping the housing 100 of the power tool 98 so that the user's thumb is closer to the battery 108 than the tool connector 114. The method may also include engaging (e.g., depressing) the trigger 110 with the user's hand while the user's thumb is closer to the battery 108 than the tool connector 114. The method also includes driving the surgical pin into the bone with the surgical power tool assembly. The method may also include depressing the operating lever 126 with the user's finger while the user's thumb is closer to the battery 108 than the connector. The steps of depressing the operating lever 126 and depressing the trigger 110 may be performed with different fingers. The step of grasping the housing may also include grasping the housing 100 so that the battery 108 is positioned above the user's hand during use (see Fig.24 ).

[0080] Although the methods described above refer to the surgical power tool assembly 98 described above, it should be understood that these methods may also be applied to other surgical power tool assemblies described herein.

[0081] The motor 102 may be a brushless DC motor. The surgical tool 98 may include a three-phase H-bridge to commutate the brushless DC motor. The H-bridge may control the speed and direction of the powered motor.

[0082] refer to Fig. 20 , one or more of the printed circuit boards 116, 118, 120 may include a field effect transistor 121 (FET). The FET 121 may be driven by a general purpose gate driver. The gate driver may have a maximum gate sink and source current of 2 amps. The gate driver provides a gate-source voltage of 5 volts so as not to exceed the gate-source rating of the FET 121. The gate driver may also have an internal bootstrap capacitor for driving the high-side FET 121. The FET 121 may include a gallium nitride FET. These FETs 121 have a characteristic low input capacitance that allows high switching speeds. The one or more printed circuit boards may be made of a fiberglass material such as FR-4 or other suitable construction.

[0083] For certain motor applications, the end user requires a surgical tool 98 where the available space for the motor control electronics may be severely limited. This may be due to the location of the motor or other application specific constraints. However, when the surgical power tool assembly 98 is used under high power loads, a large amount of heat may be generated due to the high current required to maintain high torque applications.

[0084] Various components of the printed circuit boards 116, 118, 120 can be soldered. Exemplary solders can be high temperature solders with a melting point below 280, 290, or 300 degrees Celsius. In some cases, one or more of the printed circuit boards 116, 118, 120 can include one or more metal heat sinks 123 to absorb the heat generated by the high power load. The metal heat sink 123 can be selected from various metals and metal alloys. For example, the metal heat sink can include one or more materials selected from the group consisting of aluminum 1050, aluminum 1070, aluminum 1100, aluminum 1200, or aluminum 1370. Exemplary aluminum alloys include alloys containing copper, manganese, zirconium, and / or titanium. The heat sink material can be a heat sink material with a rating of at least 200W / mK, or at least 220W / mK, or at least 230W / mK.

[0085] refer to Fig. 20 and Fig.21 , the metal heat sink 123 may be located below the board including the FET 121 , above the board including the FET 121 , or the metal heat sink 123 may be located at the top and bottom of the board including the FET 121 .

[0086] The printed circuit board assembly 115 may include a dual heat sink solution including an aluminum heat sink 123 that extends across and in direct contact with the high-side transistor and the low-side transistor, respectively. In one specific embodiment, the dual heat sink solution includes two 16.05mm x 2.3mm x 1mm aluminum 1370 heat sinks that are in direct contact with the GaN FETs. The surgical power tool assembly 98 may include a metal heat sink 123 for each of the three FETs 121. In other embodiments, the heat sink 123 may include other dimensions and still be in direct contact with the FETs 121.

[0087] One or more of the metal heat sinks 123 may be used in conjunction with a thermally conductive potting material, such as a silicone elastomer potting material. The potting material may be positioned between two printed circuit boards so that the potting material directly contacts the printed circuit board including the FETs. Exemplary potting materials may include one or more materials selected from the group consisting of Sylgard 184, Sylgard 3-6605, Sylgard 160, DowSil TC-6020, or DowSil TC4025. In some embodiments, a suitable potting material may have a thermal conductivity of at least 0.25, at least 0.5, at least 0.75, at least 1, or at least 2.5 W / mK.

[0088] The potting material may include a thermally conductive additive. The thermally conductive additive may be selected from the group consisting of abrasive ceramics, lubricating ceramics, boron nitride, aluminum oxide, aluminum nitride, and combinations thereof.

[0089] See also Fig.23 In one exemplary embodiment shown, the housing of the surgical handpiece 98 may define an inner cavity, such as a separate enclosure 125, in which the control circuit (such as one or more of the printed circuit boards) and / or the motor and other components of the instrument are disposed. A potting material may be injected into the cavity so that the material flows into and through the cavity, thereby coating and encapsulating one or more internal components of the instrument (e.g., the control circuit or components thereof). The potting material may be injected so that the cavity is partially or completely filled with the material. Encapsulating the internal components may reduce the void space within the inner cavity. In addition, the material may seal the components, thereby providing protection from moisture, chemical compounds (e.g., detergents), steam, gas, and biological contaminants. This sealing approach also allows sterilization of the instrument to provide the option of using the instrument multiple times.

[0090] Before the potting material is injected into the housing or enclosure, the housing or enclosure may be appropriately sealed to withstand the pressure of the potting injection process and to hermetically seal the housing. The potting material may be any material, which may be any liquid or amorphous material that solidifies when injected into the cavity. Once solidified, the material may be relatively rigid to protect the components from shock, vibration, maintain compliance, and reduce stress under extreme temperatures and other environmental conditions. In some configurations, the potting material may also take the form of a solid.

[0091] refer to Fig.23 , the one or more printed circuit boards may be disposed in a control enclosure 125. The enclosure may be a control module for regulating the operation of a motor integrated with an electric surgical tool. The enclosure may define a housing formed with an opening, and the control circuit may be disposed within the housing. One or more conductive pins may extend through corresponding openings of the enclosure.

[0092] The one or more printed circuit boards may include one or more sensors that monitor the state of externally mounted triggers. A magnet is attached to each trigger and is located inside the tool housing. Optionally, inside the control module is a magnetic field sensor. Each sensor generates a signal that varies in relation to the proximity of an associated one of the trigger magnets. Manual displacement of the trigger causes a similar displacement of the magnet inside the tool. When the trigger and magnet are so displaced, the complementary sensors generate a signal indicating that movement has occurred. Upon receiving the signal, the control circuit generates the signal required to allow an excitation current to be applied to the motor. The conductive components of the circuit board of the above-mentioned tool can be shielded from the effects of the supersaturated steam of the autoclave environment. These components will not be adversely affected when the tool is sterilized.

[0093] One or more of the printed circuit boards may also include one or more sensors that monitor the state of the tool motor, such as one or more Hall sensors. In order to promote the responsiveness of the sensors, (some) parts of the housing may be formed of a material through which the (one or more) physical quantities monitored by the sensors can pass. For example, if one or more of the sensors monitor (one or more) magnetic fields, adjacent sections of the housing may be formed of a combination of magnetic and non-magnetic materials that focus the (one or more) magnetic fields. If the sensor monitors photon energy (light), the housing may have (a plurality of) panels or (a plurality of) panel sections that are transparent to the wavelength of the monitored light.

[0094] Another configuration of the surgical power tool assembly 798 is shown in Fig.24 The surgical power tool assembly 798 includes various surgical attachments 822a, 822b, 822c, 822d that can be coupled to the housing 800. The surgical attachments 822a, 822b, 822c, 822d can each include an input shaft to receive torque from the motor of the surgical power tool assembly 798. Actuation of the trigger 810 can cause the motor to be powered by the battery 808 to drive the coupled surgical attachments 822a, 822b, 822c, 822d. The surgical attachments 822a, 822b, 822c, 822d can be used for pin driving, saw cutting, drilling, and other surgical operations.

[0095] Another configuration of the surgical power tool assembly 898 is Fig.25 . The surgical power tool assembly 898 includes various surgical attachments 922a, 922b, 922c that can be coupled to the housing 900. The surgical attachments 922a, 922b, 922c can each include an input shaft to receive torque from the motor of the surgical power tool assembly 898. Actuation of one of the triggers 910a, 910b can cause the motor to be powered by the battery 908 to drive the coupled surgical attachments 922a, 922b, 922c. The surgical attachments 922a, 922b, 922c, 922d can be used for pin driving, saw cutting, drilling, and other surgical operations. The surgical attachments 922a, 922b, 922c can be configured so that the input shafts of the surgical attachments 922a, 922b, 922c are offset from the tool coupler by at least 45 degrees, at least 60 degrees, or approximately 90 degrees. This feature can be further appreciated where the input shaft defines an input axis and the tool coupler also defines an axis, the input axis being offset from the tool coupler axis by at least 45 degrees, at least 60 degrees, or about 90 degrees. The operating lever 926 can be offset from the input axis so that the operating lever can be more easily accessed during placement of the pin.

[0096] Another configuration of the surgical power tool assembly 998 is Fig.26. The surgical power tool assembly 998 includes various surgical attachments 1022a, 1022b, 1022c, 1022d that can be coupled to the housing 1000. The surgical attachments 1022a, 1022b, 1022c, 1022d can each include an input shaft to receive torque from the motor of the surgical power tool assembly 998. Actuation of one of the triggers 1010a, 1010b can cause the motor to be powered by the battery 1008 to drive the coupled surgical attachments 1022a, 1022b, 1022c, 1022d. The surgical attachments 1022a, 1022b, 1022c, 1022d can be used for pin driving, saw cutting, drilling, and other surgical operations. The housing 1000 includes a handle portion 1003 and a barrel portion 1001. The handle portion 1003 extends along an axis, and the barrel portion is configured to articulate with respect to the handle portion to achieve a plurality of possible orientations of the surgical attachments 1022a, 1022b, 1022c, 1022d relative to the housing 1000. In other words, in this configuration, the barrel portion 1001 can be articulated at various angles relative to the handle portion 1003. The housing portions 1001, 1003 may include a suitable stop mechanism, such as a spring-loaded pin engaging a preset hole, to fix the position of the barrel portion 1001 relative to the handle portion 1003.

[0097] Another configuration of surgical power tool assembly 1098 is shown in FIG. 27. Surgical power tool assembly 1098 may include a variety of surgical attachments that can be coupled to housing 1100. The surgical attachments may each include an input shaft to receive torque from the motor of surgical power tool assembly 1098. Actuation of one of the triggers may cause the motor to be powered by battery 1108 to drive the coupled surgical attachments. The surgical attachments may be used for pin driving, saw cutting, drilling, and other surgical operations. Housing 1100 includes a handle portion 1103 and a barrel portion 1101. The handle portion 1103 extends along an axis, and the barrel portion 1101 is configured to pivot relative to the handle portion 1103 to achieve multiple possible orientations of the surgical attachment relative to housing 1100. In other words, in this configuration, the barrel portion 1101 can pitch at various angles relative to the handle portion 1001. The housing portions 1101 , 1103 may include suitable detent mechanisms, such as spring-loaded pins that engage predetermined holes, to fix the position of the barrel portion 1101 relative to the handle portion 1103 .

[0098] Another configuration of the surgical power tool assembly 1198 is shown in Fig.28The surgical power tool assembly 1198 includes various surgical attachments 1222a, 1222b, 1222c, 1222d that can be coupled to the housing 1200. The surgical attachments 1222a, 1222b, 1222c, 1222d can each include an input shaft to receive torque from the motor of the surgical power tool assembly 1198. Actuation of one of the triggers 1210a, 1210b can cause the motor to be powered by the battery 1208 to drive the coupled surgical attachments 1222a, 1222b, 1222c, 1222d. The surgical attachments 1222a, 1222b, 1222c, 1222d can be used for pin driving, saw cutting, drilling, and other surgical operations. The surgical power tool assembly 1198 can include a mode switch 1205 that is movably coupled to the housing 1200 and can be moved between a first position and a second position. As implemented, the mode switch 1205 includes an annular member that generally surrounds the barrel portion of the housing 1200 and is movable about the barrel portion of the housing 1200 to switch modes. The barrel portion may include a Hall effect sensor to determine the position of the mode switch 1205. Alternatively, the mode switch 1205 may be provided at other locations on the surgical power tool assembly 1198, or on a separate device (such as a tablet computer connected thereto).

[0099] The controller is operable to control the motor in a first mode when the mode switch 1205 is in a first position, and is operable to control the motor in a second mode when the mode switch 1205 is in a second position. The barrel portion of the housing 1200 may include a proximal region and a distal region. The housing 1200 includes a first attachment coupler 1214b in the proximal region and a second attachment coupler 1214a in the distal region.

[0100] The surgical power tool assembly 1198 can be designed to simultaneously engage (e.g., be coupled to) two of the surgical attachments 1222a, 1222b, 1222c, 1222d. The first surgical attachment 1222a, 1222b, 1222c, 1222d can be configured to be driven by a motor when the first attachment is engaged with the first attachment coupler 1214b. The second surgical attachment 1222a, 1222b, 1222c, 1222d can be configured to be driven by a motor when the second attachment is engaged with the second attachment coupler 1214a. When in the first mode, the motor is operable to drive the first attachment, and when in the second mode, the motor is operable to drive the second attachment. The motor can include a transmission selectively coupled to two or more separate output shafts. The first motor mode can drive the first output shaft, and the second motor mode can drive the second output shaft. The first output shaft may be configured to drive a first attachment and the second output shaft may be configured to drive a second attachment.Alternatively, the tool may include two motors, wherein the mode switch 1205 controls which motor is engaged depending on the position of the mode switch 1205 .

[0101] The first attachment coupler 1214b is located on an opposite side of the housing 1200 from the second attachment coupler 1214a. The second attachment may be operable to drive a surgical pin and the first attachment may be operable to drive a surgical saw blade or drill or screwdriver.

[0102] exist Fig.29A and 29B1398. An alternative surgical power tool assembly 1298, 1398 is shown in FIG. The tool assembly 1298, 1398 may include a housing 1300, 1400, an electric motor positioned in the housing 1300, 1400, a coupler operatively actuated by the electric motor, and a controller, which is optionally positioned within the housing 1300, 1400. The tool assembly may also include a removable battery configured to power the controller and / or the electric motor. The power tool may also include first and second triggers 1310a, 1310b, 1410a, 1410b movably coupled to the housing 1300, 1400, such that the controller is configured to turn on the electric motor when any of the first and second triggers 1310a, 1310b, 1410a, 1410b is pressed. The surgical power tool assembly 1298, 1398 may also include a third trigger 1310c, 1410c, which is movably connected to the housing 1300, 1400, so that the controller is configured to turn on the electric motor when the third trigger 1310c, 1410c is pressed and / or contacted. In some embodiments, the actuation of any trigger causes the electric motor to rotate in a first direction (i.e., the same direction). In other embodiments, one of the triggers can cause the electric motor to rotate in another direction different from the direction in which one of the other triggers causes the electric motor to rotate. The first and second triggers 1310a, 1310b, 1410a, 1410b are positioned on the power tool assembly 1298, 1398 so that they can be touched from a grip different from the third trigger 1310c, 1410c.

[0103] The housing 1300, 1400 may include a barrel portion and a handle portion, and the first and second triggers 1310a, 1310b, 1410a, 1410b may be disposed on a first region of the handle portion, and the third trigger 1310c, 1410c may be disposed on a second region of the handle portion. The first region may be disposed opposite to the second region relative to the handle portion, such that the triggers are on opposite sides of the handle portion. In some cases, the first region may be closer to the barrel portion than the second region.

[0104] Several configurations have been discussed in the foregoing description. However, the configurations discussed herein are not intended to be exhaustive or to limit the invention to any particular form. The terms that have been used are intended to have the nature of descriptive terms rather than restrictive terms. Certain inventive aspects of the present disclosure are described with reference to the following exemplary clauses.

[0105] I. A pin driver attachment system, the pin driver attachment comprising: an attachment housing for removably connecting to a handpiece housing including a motor; an input shaft defining features for receiving torque from the handpiece and a first hole and a second hole, the first hole being coaxial with the second hole, the first hole being smaller than the second hole; a connector connected to the input shaft, the connector being movable between an engaged position and a disengaged position, wherein in the engaged position a drill bit can be secured in the connector, and in the disengaged position the drill bit can be released from the connector.

[0106] II. The pin driver attachment system of clause I, wherein the first hole comprises a plurality of flat portions and the second hole comprises a plurality of flat portions, and the pin driver attachment system further comprises a surgical pin comprising at least six flat portions.

[0107] III. The pin driver attachment system of clause II, further comprising a surgical pin comprising a ferrous material.

[0108] IV. An electric surgical instrument, comprising: a housing defining an inner cavity therein, the housing including a handle portion; a body portion extending distally from the handle portion; a tool assembly disposed at the distal end of the body portion; a control circuit and a drive motor disposed within the inner cavity, wherein the drive motor is mechanically coupled to the tool assembly and the control circuit is configured to control the operation of the drive motor, wherein the control circuit includes a plurality of field effect transistors; and a potting material disposed in the inner cavity, encapsulating at least a portion of the field effect transistors of the control circuit.

[0109] V. The electric surgical instrument of clause IV, further comprising a metal heat sink contacting at least two of the plurality of field effect transistors.

[0110] VI. An electric surgical instrument according to clause IV, wherein the potting material is a polymer selected from the group consisting of polyester, silicone, rubber, epoxy resin, nylon, polyphthalamide, liquid crystal polymer and combinations thereof.

[0111] VII. An electric surgical instrument as described in clause VI, wherein the potting material includes a thermally conductive additive.

[0112] VIII. An electric surgical instrument, comprising: a housing defining an inner cavity therein, the housing including a handle portion; a body portion extending distally from the handle portion; a tool assembly disposed at the distal end of the body portion; a control circuit and a drive motor, the control circuit and the drive motor being disposed within the inner cavity, wherein the drive motor is mechanically coupled to the tool assembly and the control circuit is configured to control the operation of the drive motor, wherein the control circuit includes a plurality of field effect transistors; and a metal heat sink contacting at least two of the plurality of field effect transistors.

[0113] IX. The powered surgical instrument of clause VIII, further comprising a potting material disposed within the inner cavity, the potting material encapsulating at least a portion of the field effect transistor of the control circuit.

[0114] X. A method for manufacturing an electric surgical device, the method comprising: providing a housing for the electric surgical device, the housing defining a cavity, and a control circuit disposed in the housing; injecting a liquid potting material into the cavity of the sealed housing to hermetically seal the housing, the control circuit comprising: a circuit board; a motor controller connected to the circuit board, and optionally one or more field effect transistors connected to the circuit board, and optionally, one or more trigger sensors and one or more motor sensors, such as one or more Hall sensors; and curing the potting material to encapsulate at least a portion of the control circuit, such as encapsulating one or more field effect transistors, the motor controller, the motor sensor, the trigger sensor and / or the circuit board.

[0115] XI. A surgical power tool assembly comprising: a housing; an electric motor positioned in the housing; a connector operatively actuated by the electric motor; a controller positioned in the housing; a battery configured to supply power to the controller, the battery being coupled to the housing; a trigger movably coupled to the housing such that the controller is configured to turn on the electric motor when the trigger is depressed and to adjust the speed of the electric motor based on the distance (or degree) the trigger is depressed; wherein the connector defines an axis; and wherein the trigger defines an actuation surface and moves between an actuated position and an unactuated position, and wherein the actuation surface is closer to the axis defined by the connector in the actuated position than in the unactuated position.

[0116] XII. The surgical power tool assembly of clause XI, further comprising a surgical attachment comprising an input shaft and a tool coupler, wherein the input shaft is offset from the tool coupler by at least 45 degrees, at least 60 degrees, or approximately 90 degrees.

[0117] XIII. The surgical power tool assembly of clause XII, wherein the input shaft defines an input axis, and wherein the input axis is offset from the tool coupler by at least 45 degrees, at least 60 degrees, or approximately 90 degrees.

[0118] XIV. A surgical power tool assembly according to clause XIII, wherein the tool connector is operable to engage a surgical pin, wherein the tool connector includes an operating rod operable to move the tool connector between a fixed configuration and an unfixed configuration, wherein the operating rod is offset from the input axis.

[0119] XV. A surgical power tool assembly comprising: a housing, the housing including a barrel portion and a handle portion; an electric motor, the electric motor being positioned in the housing; a connector, the connector being operatively actuated by the electric motor; a controller, the controller being positioned in the housing; a battery, the battery being configured to supply power to the controller, the battery being coupled to the housing; a trigger, the trigger being movably coupled to the handle portion of the housing, such that the controller is configured to turn on the electric motor when the trigger is pressed; wherein the handle portion defines a longitudinal axis, and wherein the barrel portion of the housing is operable to rotate about the longitudinal axis of the handle portion.

[0120] XVI. The surgical power tool assembly of clause XV, wherein the barrel portion defines an attachment coupler configured to receive a surgical attachment.

[0121] XVII. The surgical power tool assembly of clause XV, wherein the barrel portion includes a coupler to engage a surgical end effector.

[0122] XVIII. A surgical power tool assembly comprising: a housing, the housing including a barrel portion and a handle portion; an electric motor, the electric motor being positioned in the housing; a connector, the connector being operatively actuated by the electric motor; a controller, the controller being positioned in the housing; a battery, the battery being configured to supply power to the controller, the battery being coupled to the housing; a trigger, the trigger being movably coupled to the handle portion of the housing, such that the controller is configured to turn on the electric motor when the trigger is pressed; wherein the handle portion defines an axis, and wherein the barrel portion of the housing is operable to rotate about the axis of the handle portion.

[0123] XIX. A surgical power tool assembly as described in clause XVIII, wherein the axis is perpendicular to the longitudinal axis of the handle portion.

[0124] XX. A surgical power tool assembly comprising: a housing, the housing comprising a proximal region and a distal region, the housing comprising a first attachment connector in the proximal region and a second attachment connector in the distal region; an electric motor, the electric motor being positioned in the housing; a controller, the controller being positioned in the housing; a battery, the battery being configured to supply power to the controller, the battery being coupled to the housing; a trigger, the trigger being movably coupled to the housing, and the controller being configured to turn on the electric motor when the trigger is depressed; a mode switch, which is movably coupled to the housing and movable between a first position and a second position , and the controller is operable to control the motor in a first mode when the mode switch is in a first position, and is operable to control the motor in a second mode when the mode switch is in a second position; a first attachment, the first attachment being configured to be driven by the motor when the first attachment is engaged with the first attachment connector; a second attachment, the second attachment being configured to be driven by the motor when the second attachment is engaged with the second attachment connector, wherein when the motor is in the first mode, the motor is operable to drive the first attachment, and when the motor is in the second mode, the motor is operable to drive the second attachment.

[0125] XXI. The surgical power tool assembly of clause XX, wherein the first attachment coupler is on a side of the housing opposite the first attachment coupler.

[0126] XXII. The surgical power tool assembly of clause XX, wherein the second attachment is operable to drive a surgical pin, and wherein the first attachment is operable to drive a surgical saw blade or drill.

[0127] XXIII. The surgical power tool assembly of clause XX, wherein the mode switch is an annular switch operable to rotate relative to the housing to switch between the first position and the second position.

[0128] XXIV. A surgical power tool assembly comprising: a housing; an electric motor positioned in the housing; a connector operatively actuated by the electric motor; a controller positioned in the housing; a battery configured to supply power to the controller, the battery being connected to the housing; a first trigger movably connected to the housing such that the controller is configured to turn on the electric motor when the first trigger is pressed; and a second trigger movably connected to the housing such that the controller is configured to turn on the electric motor when the second trigger is pressed, wherein the first trigger is accessible from a grip different from that of the second trigger.

[0129] XXV. The surgical power tool assembly of clause XXIV, wherein the housing comprises a barrel portion and a handle portion, wherein the first trigger is located on a first region of the handle portion and the second trigger is located on a second region of the handle portion.

[0130] XXVI. A surgical power tool assembly according to clause XXV, wherein the first region is arranged opposite to the second region.

[0131] XXVII. A surgical power tool assembly as described in clause XXV, wherein the first region is closer to the barrel portion than the second region.

[0132] XXVIII. A surgical power tool assembly according to clause XXIV, further comprising a mode switch movably connected to the housing and movable between a first position and a second position, and a controller operable to control the motor in a first mode when the mode switch is in the first position, and operable to control the motor in a second mode when the mode switch is in the second position; the housing comprises a proximal region and a distal region, the housing comprising a first attachment connector in the proximal region and a second attachment connector in the distal region, the first attachment being configured to be driven by the motor when the first attachment is engaged with the first attachment connector; the second attachment being configured to be driven by the motor when the second attachment is engaged with the second attachment connector, wherein when the motor is in the first mode, the motor is operable to drive the first attachment, and wherein when the motor is in the second mode, the motor is operable to drive the second attachment.

[0133] XXIX. A surgical power tool assembly as described in clause XXVIII, wherein the first trigger is operable to control the speed of the motor when the motor is in the first mode, and the second trigger is operable to control the speed of the motor when the motor is in the second mode.

[0134] XXX. A surgical power tool assembly comprising: a housing; an electric motor positioned in the housing; a connector operatively actuated by the electric motor; a controller positioned in the housing; a battery configured to supply power to the controller, the battery being connected to the housing; a trigger movably connected to the housing so that the controller is configured to turn on the electric motor when the trigger is pressed and to adjust the speed of the electric motor based on the distance the trigger is pressed; wherein the connector defines an axis; and wherein the trigger defines an actuation surface, the trigger being capable of moving between an actuated position and an unactuated position; and wherein the actuation surface is closer to the axis defined by the connector in the actuated position than in the unactuated position.

[0135] XXXI. A surgical power tool assembly according to clause XXX, wherein the housing defines a trigger axis, and wherein the trigger has a pivot end and a free end, and the trigger is capable of pivoting about the trigger axis at its free end.

[0136] XXXII. A surgical power tool assembly as described in clause XXX, wherein the housing includes a base and a protrusion extending from the base, wherein the protrusion extends the actuation surface when the trigger is in the actuated position and the unactuated position.

[0137] XXXIII. A surgical power tool assembly as described in claim XXX, wherein the trigger includes an operation safety switch.

[0138] XXXIV. A surgical power tool assembly as described in clause XXX, wherein the trigger comprises a first magnet and a second magnet.

[0139] XXXV. An electric surgical tool comprising: a handpiece defining a void space; an electric motor disposed in the void space; a first printed circuit board disposed in the void space and being rigid, the first circuit board comprising a trigger sensor and a motor control sensor; a second printed circuit board disposed in the void space and being rigid; a third circuit board disposed in the void space and being rigid; each of the first circuit board, the second circuit board and the third circuit board defining a plane, wherein the planes of the first circuit board, the second circuit board and the third circuit board are parallel to each other; a controller configured to adjust power drawn from a power source based on user input, the controller being mounted to one of the second printed circuit board and the third circuit board.

[0140] XXXVI. A surgical power tool assembly for driving a surgical pin, comprising: a surgical handpiece, the surgical handpiece comprising: a handpiece housing; an electric motor, the electric motor positioned in the handpiece housing; a controller, the controller positioned in the handpiece housing; a trigger, the trigger being movably connected to the handpiece housing, the trigger having an actuation surface capable of moving between an actuated position and an unactuated position, wherein the controller is configured to control the speed of the motor based on the actuated position of the trigger; and an output drive, the output drive being connected to the electric motor and configured to be driven by the electric motor to rotate about an axis, wherein the actuation surface is closer to the axis in the actuated position than in the unactuated position; and a pin driver attachment, the pin driver attachment being used to drive the surgical pin.

[0141] XXXVII. A method for driving a pin in a robotic-assisted knee arthroplasty procedure, the method comprising: providing a battery-powered surgical tool, connecting a surgical attachment to the battery-powered surgical tool, drilling a hole in at least two locations using a drill bit using a first driving portion of the surgical attachment, driving a first pin in one of the at least two locations using a second driving portion of the surgical attachment, and driving a second pin having a different diameter than the first pin in another of the at least two locations using a third driving portion of the surgical attachment.

Claims

1. A surgical power tool assembly for driving a surgical pin, comprising: A surgical handpiece, comprising: Handpiece housing, an electric motor positioned in the handpiece housing, a controller positioned in the handpiece housing, a battery removably coupled to the handpiece housing and configured to supply power to the controller, a trigger movably coupled to the handpiece housing, the trigger having an actuation surface movable between an actuated position and an unactuated position, wherein the controller is configured to control the speed of the motor based on the actuated position of the trigger, and an output drive coupled to the electric motor and configured to be driven by the electric motor to rotate about an axis, wherein the actuated surface is closer to the axis in the actuated position than in the unactuated position; A pin driver attachment, the pin driver attachment comprising: an attachment housing removably coupled to the handpiece housing, an actuator movably coupled to the attachment housing, a collet operable in a clamped state and an unclamped state, said collet being operable to engage a surgical pin when in said clamped state, The actuator is operatively coupled to the collet, wherein the actuator moves between a first position and a second position, wherein the collet is in the clamped state when the actuator is in the first position and the collet is in the unclamped state when the actuator is in the second position. 2 . The surgical power tool assembly of claim 1 , wherein the trigger is pivotally coupled to the handpiece housing.

3. The surgical power tool assembly of claim 2, wherein the trigger defines a trigger pivot end pivotably coupled to the handpiece housing and a trigger free end disposed proximal to the trigger pivot end.

4. The surgical power tool assembly of any one of claims 1-3, wherein the actuator is selected from the group consisting of a torque collar and a lever.

5. A surgical power tool assembly according to any one of claims 1-4, wherein the actuator includes an operating rod pivotally connected to the attachment housing, the operating rod defining an operating rod pivot end pivotally connected to the attachment housing and an operating rod free end disposed proximal to the operating rod pivot end.

6. The surgical power tool assembly of claim 5, wherein the operating rod defines a recess, and wherein the trigger is aligned with the recess.

7. The surgical power tool assembly according to claim 5 or claim 6, wherein the free end of the operating rod is arranged on the proximal side of the trigger.

8. The surgical power tool assembly according to any one of claims 5-7, wherein at least a portion of the trigger is disposed proximal to the free end of the operating rod.

9. A surgical power tool assembly according to any one of claims 5-8, wherein the operating rod has a first bend, a second bend and a third bend, the first bend and the second bend are closer to the operating rod pivot end than the operating rod free end, the first bend and the second bend are each an acute angle, and the third bend is an obtuse angle.

10. The surgical power tool assembly of claim 9, wherein: The operating rod further includes a fourth curved portion, which is closer to the free end of the operating rod than the third curved portion, wherein the fourth curved portion is an obtuse angle. The surgical power tool assembly of claim 10 , wherein the operating rod includes exactly four bends.

12. A surgical power tool assembly according to any one of claims 1-11, wherein the trigger is further defined as a first trigger having a first actuation surface, wherein the first trigger is configured to cause the electric motor to cause the output driver to rotate about the axis in a first direction, and wherein the surgical handpiece further includes a second trigger having a second actuation surface, wherein the second trigger is configured to cause the electric motor to cause the output driver to rotate about the axis in a second direction opposite to the first direction.

13. A surgical power tool assembly according to any one of claims 1-12, wherein the chuck includes a jaw connected to the attachment housing and capable of moving relative to the attachment housing in response to the position of the actuator so that the jaw is closer to the axis in the clamped state to engage the surgical pin than the jaw is in the unclamped state.

14. A surgical power tool assembly for driving a surgical pin, comprising: A surgical handpiece, comprising: Handpiece housing, an electric motor positioned in the handpiece housing, a controller positioned in the handpiece housing, a battery removably coupled to the handpiece housing and configured to supply power to the controller, a trigger movably coupled to the handpiece housing, the trigger having an actuation surface movable between an actuated position and an unactuated position, wherein the controller is configured to control the speed of the motor based on the actuated position of the trigger, and an output driver coupled to the electric motor and configured to be driven by the electric motor to rotate about an axis, wherein the actuated surface is closer to the axis in the actuated position than in the unactuated position; and A pin driver attachment for driving the surgical pin.

15. The surgical power tool assembly of claim 14, wherein the pin driver attachment comprises a first drive portion for connecting to a twist drill, a second drive portion for connecting to a first surgical pin having a first diameter, and a third drive portion for connecting to a second surgical pin having a second diameter different from the first diameter.

16. The surgical power tool assembly of claim 15, wherein: The first drive portion defines a first cross-sectional area, the second drive portion defines a second cross-sectional area different from the first cross-sectional area, and the third drive portion defines a third cross-sectional area different from the first cross-sectional area and the second cross-sectional area.

17. The surgical power tool assembly of any one of Claims 14-16, wherein the trigger is pivotally coupled to the handpiece housing.

18. The surgical power tool assembly of Claim 17, wherein the trigger defines a trigger pivot end pivotably coupled to the handpiece housing and a trigger free end disposed proximal to the trigger pivot end.

19. A surgical power tool assembly according to any one of claims 14-18, wherein the trigger is further defined as a first trigger having a first actuation surface, wherein the first trigger is configured to cause the electric motor to cause the output driver to rotate about the axis in a first direction, and wherein the surgical handpiece further includes a second trigger having a second actuation surface, wherein the second trigger is configured to cause the electric motor to cause the output driver to rotate about the axis in a second direction opposite to the first direction.

20. A surgical power tool assembly comprising: A surgical handpiece, comprising: Handpiece housing, an electric motor positioned in the handpiece housing, a controller positioned in the handpiece housing, a battery removably coupled to the handpiece housing and configured to supply power to the controller, a trigger pivotably coupled to the handpiece housing such that the controller is configured to turn on the electric motor when the trigger is depressed and to adjust the speed of the electric motor based on the distance the trigger is depressed, and an output driver coupled to the electric motor and configured to be driven by the electric motor to rotate about an axis, A pin driver attachment, the pin driver attachment comprising: an attachment housing removably coupled to the handpiece housing; an actuator movably coupled to the attachment housing; a collet operable in a clamped state and an unclamped state, said collet being operable to engage a surgical pin when in said clamped state; The actuator is operatively coupled to the collet, wherein the actuator moves between a first position and a second position, wherein the collet is in the clamped state when the actuator is in the first position and the collet is in the unclamped state when the actuator is in the second position.

21. The surgical power tool assembly of Claim 20, wherein the trigger defines a trigger pivot end pivotably coupled to the handpiece housing and a trigger free end disposed proximal to the trigger pivot end.

22. The surgical power tool assembly of claim 20 or claim 21, wherein the actuator is selected from the group consisting of a torque collar and a lever.

23. A surgical power tool assembly according to any one of claims 20-22, wherein the actuator includes an operating rod pivotally connected to the attachment housing, the operating rod defining an operating rod pivot end pivotally connected to the attachment housing and an operating rod free end disposed proximal to the operating rod pivot end.

24. The surgical power tool assembly of Claim 23, wherein the operating rod defines a recess, and wherein the trigger is aligned with the recess.

25. The surgical power tool assembly of claim 23 or claim 24, wherein the operating rod free end is disposed proximal to the trigger.

26. The surgical power tool assembly of any one of Claims 23-25, wherein at least a portion of the trigger is disposed proximal to the free end of the operating rod.

27. A surgical power tool assembly according to any one of claims 23-26, wherein the operating rod has a first bend, a second bend and a third bend, the first bend and the second bend are closer to the operating rod pivot end than the operating rod free end, the first bend and the second bend are each an acute angle, and the third bend is an obtuse angle.

28. The surgical power tool assembly of claim 27, wherein the operating rod further comprises a fourth bend, the fourth bend being closer to the free end of the operating rod than the third bend, wherein the fourth bend is an obtuse angle.

29. The surgical power tool assembly of claim 28, wherein the operating rod includes exactly four bends.

30. The surgical power tool assembly of any one of Claims 20-29, wherein the trigger defines an actuation surface and moves between an actuated position and an unactuated position, wherein the actuation surface is closer to a longitudinal axis defined by the collet in the actuated position than in the unactuated position.

31. The surgical power tool assembly of claim 30, wherein the trigger is further defined as a first trigger having a first actuation surface, wherein the first trigger is configured to cause the electric motor to cause the output drive to rotate about the axis in a first direction, and wherein, The surgical handpiece also includes a second trigger having a second actuation surface, wherein the second trigger is configured to cause the electric motor to cause the output drive to rotate about the axis in a second direction opposite the first direction.

32. A surgical power tool assembly according to claim 31, wherein the chuck includes a jaw connected to the attachment housing and capable of moving relative to the attachment housing in response to the position of the actuator so that the jaw is closer to the axis in the clamped state to engage the surgical pin than the jaw is in the unclamped state.

33. A surgical power tool assembly for driving a surgical pin, the surgical power tool assembly comprising: A surgical handpiece, comprising: Handpiece housing, an electric motor positioned in the handpiece housing, a controller positioned in the handpiece housing, a battery removably coupled to the handpiece housing and configured to supply power to the controller, a trigger pivotably coupled to the handpiece housing such that the controller is configured to turn on the electric motor when the trigger is depressed and to adjust the speed of the electric motor based on the distance the trigger is depressed, and an output driver coupled to the electric motor and configured to be driven by the electric motor to rotate about an axis, A pin driver attachment for driving the surgical pin.

34. A surgical power tool assembly according to claim 33, wherein the pin driver attachment includes a first drive portion for connecting to a twist drill, a second drive portion for connecting to a first surgical pin having a first diameter, and a third drive portion for connecting to a second surgical pin having a second diameter different from the first diameter.

35. The surgical power tool assembly of claim 34, wherein the first drive portion defines a first cross-sectional area, the second drive portion defines a second cross-sectional area different from the first cross-sectional area, and the third drive portion defines a third cross-sectional area different from the first cross-sectional area and the second cross-sectional area.

36. The surgical power tool assembly of any one of Claims 33-35, wherein the trigger defines a trigger pivot end pivotably coupled to the handpiece housing and a trigger free end disposed proximal to the trigger pivot end.

37. A surgical power tool assembly according to any one of claims 33-36, wherein the trigger is further defined as a first trigger having a first actuation surface, wherein the first trigger is configured to cause the electric motor to cause the output driver to rotate about the axis in a first direction, and wherein the surgical handpiece further includes a second trigger having a second actuation surface, wherein the second trigger is configured to cause the electric motor to cause the output driver to rotate about the axis in a second direction opposite to the first direction.

38. A method of inserting a surgical pin with a surgical power tool assembly, wherein the surgical power tool assembly includes a housing, an electric motor positioned in the housing, a coupler operatively actuated by the electric motor, a controller positioned in the housing, a battery removably coupled to the housing and configured to supply power to the controller, a trigger removably coupled to the housing, the method comprising: inserting the surgical pin into the coupler; grasping the housing with a user's hand so that the user's thumb is closer to the battery than the connector; engaging the trigger with a user's finger when the user's thumb is closer to the battery than the coupler; as well as The surgical pin is driven into bone using the surgical power tool assembly.

39. The method of claim 38, further comprising drilling a hole in the bone using a twist drill coupled to the coupler.

40. The method of claim 38 or claim 39, wherein the step of engaging the trigger further comprises depressing the trigger to adjust the speed of the electric motor.

41. A method according to claim 40, wherein the surgical power tool assembly further includes a surgical attachment for engaging the surgical pin, wherein the surgical attachment includes an operating lever separate from the trigger, and the method further includes the step of depressing the operating lever with a finger of the user when the thumb of the user is closer to the battery than the connector.

42. The method of claim 41, wherein the steps of depressing the joystick and depressing the trigger are performed with different fingers.

43. The method of claim 42, wherein the steps of depressing the joystick and depressing the trigger are performed simultaneously.

44. The method of any one of claims 41-43, wherein the surgical attachment comprises a chuck having jaws, and wherein, The step of depressing the lever further includes depressing the lever to move the jaws from an unclamped state to a clamped state in which the jaws engage the surgical pin.

45. The method of any one of claims 38-44, wherein the step of grasping the housing further comprises grasping the housing so that the battery is positioned over a hand of the user during use.

46. ​​The method of any one of claims 38-45, wherein the step of depressing the trigger further comprises pivoting the trigger relative to the housing.

47. A method of inserting a pin with a surgical power tool, the surgical power tool comprising a trigger and an operating rod coupled to a collet, the method comprising: grasping the housing of the surgical power tool with a user's hand; engaging the lever with an index finger of the user's hand to clamp a surgical pin with the collet; engaging the trigger with a finger other than an index finger of the user's hand; as well as The surgical pin is driven into the bone using the surgical power tool.

48. The method of claim 47, further comprising grasping the housing of the handpiece of the surgical power tool with a hammer grip.

49. The method of claim 48, wherein the grasping step is further defined as grasping the housing such that a thumb of a user is closer to a proximal end of the surgical power tool than a distal end of the surgical power tool.

50. The method of any one of claims 47-49, wherein the step of engaging the trigger further comprises depressing the trigger to adjust the speed of the electric motor based on the position of the trigger.

51. The method of claim 50, further comprising the step of engaging the operating lever with the index finger when the user's thumb is closer to a battery of the surgical power tool assembly than the index finger.

52. The method of any one of claims 47-51, wherein the steps of depressing the operating lever and depressing the trigger are performed simultaneously.

53. A method according to claim 51 or claim 52, wherein the chuck comprises jaws, and wherein, The step of depressing the lever further includes depressing the lever to move the jaws from an unclamped state to a clamped state in which the jaws engage the surgical pin.

54. The method of any one of claims 47-53, wherein the step of grasping the housing further comprises grasping the housing so that the battery is positioned over a hand of the user during use.

55. A method of driving a pin in a robotic-assisted knee arthroplasty procedure, the method comprising: Provide battery-powered surgical tools, coupling a surgical attachment to the battery-powered surgical tool, drilling a hole in at least one bone selected from the group consisting of a femur, a tibia, and a patella with a drill bit using the first driving portion of the surgical attachment, driving a first pin in one of the femur, the tibia, or the patella with a second driving portion of the surgical attachment, and A second pin is driven in the other of the femur, the tibia, or the patella using a third drive portion of the surgical attachment, the second pin having a different diameter than the first pin.

56. The method of claim 55, further comprising attaching a first navigation tracker to the femur using the first pin.

57. The method of claim 55 or claim 56, further comprising attaching a second navigation tracker to the tibia using the second pin.

58. The method of any one of claims 55-57, wherein at least one of the steps of driving the first pin and driving the second pin occurs before the drilling step.

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