Surgical cutting tool with anti-slip characteristics

Abstract

A surgical cutting tool having anti-slip characteristics and a system for using the surgical cutting tool are provided. The cutting tool may have a sleeve and a guide pin positioned in the sleeve. The motor may be configured to rotate the cutting tool and the guide pin. One or more actuators may be configured to extend the guide pin and the cutting tool, and also extend the guide pin beyond the tip or end of the cutting tool.

Description

TECHNICAL FIELD

[0001] The present disclosure relates generally to surgical tools, and more particularly to surgical cutting tools having anti-slip features. BACKGROUND

[0002] Surgical robots can assist surgeons or other medical providers in performing surgical procedures, or can autonomously complete one or more surgical procedures. Providing controllably linked articulating members allows the surgical robot to reach areas of a patient’s anatomy during various medical procedures. SUMMARY

[0003] Example aspects of the present disclosure include: A cutting system according to at least one embodiment of the present disclosure includes a cutting tool having a cannula, a guide pin positioned in the cannula, a motor configured to rotate the cutting tool and the guide pin, and one or more actuators configured to extend the guide pin and the cutting tool, and further to extend the guide pin beyond a tip of the cutting tool.

[0004] Any of the aspects herein, further comprising a processor and a memory storing data for processing by the processor, the data when processed causing the processor to: position the cutting tool proximate a surface of an anatomical element; cause the motor to rotate the guide pin and the cutting tool; while the motor is rotating the guide pin and the cutting tool, cause a first actuator of the one or more actuators to extend the guide pin beyond a tip of the cutting tool to cause the guide pin to cut the anatomical element; and while the motor is rotating the guide pin and the cutting tool, cause the cutting tool to linearly extend toward an end of the guide pin to cut the anatomical element with the cutting tool.

[0005] Any of the aspects herein, wherein the memory stores further data for processing by the processor, the further data when processed causing the processor to: while the motor is rotating the guide pin and the cutting tool, cause the cutting tool and the guide pin to linearly extend together into the anatomical element to cut the anatomical element with the cutting tool.

[0006] Any of the aspects herein, further comprising a robotic arm configured to support, orient, and operate the automated cutting system.

[0007] Any of the aspects herein, wherein the robotic arm positions the cutting tool proximate a surface of the anatomical element.

[0008] Any of the aspects herein, wherein at least one of the robotic arm or a third actuator of the one or more actuators linearly extends the cutting tool and the guide pin together into the anatomical element.

[0009] Any of the aspects herein, wherein a second actuator of the one or more actuators linearly extends the cutting tool towards an end of the guide pin.

[0010] Any of the aspects herein, wherein the one or more actuators comprise: a first actuator configured to extend the guide pin beyond a tip of the cutting tool; a second actuator configured to linearly extend the cutting tool to an end of the guide pin; and a third actuator configured to linearly move or extend the guide pin and the cutting tool.

[0011] Any of the aspects herein, wherein the guide pin comprises a K-wire and the cutting tool comprises a surgical bur.

[0012] Any of the aspects herein, further comprising: a guide pin pusher configured to push the guide pin through the cannula, wherein the guide pin is operated by one of the one or more actuators.

[0013] Any of the aspects herein, further comprising: a housing that houses the motor, the one or more actuators, and at least a portion of each of the cutting tool and the guide pin.

[0014] Any of the aspects herein, further comprising: one or more sensors configured to measure at least one force exerted on the anatomical element, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: pause the one or more actuators and the motor when the measured at least one force meets or exceeds a predetermined threshold.

[0015] Any of the aspects herein, wherein the guide pin pusher is manually actuated.

[0016] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: generate a notification when the measured at least one force meets or exceeds the predetermined threshold.

[0017] A system according to at least one embodiment of the disclosure includes a cutting tool having a cannula, a guide pin positioned in the cannula, a processor, and a memory storing data for processing by the processor that, when processed, causes the processor to position the cutting tool near a surface of an anatomical element, rotate the guide pin and the cutting tool, extend the guide pin beyond a tip of the cutting tool while the guide pin and the cutting tool are rotating, thereby causing the guide pin to cut the anatomical element, and linearly extend the cutting tool toward an end of the guide pin while the guide pin and the cutting tool are rotating, thereby causing the cutting tool to cut the anatomical element.

[0018] Any of the aspects herein further include one or more actuators configured to extend the guide pin and a motor configured to rotate the guide pin and the cutting tool.

[0019] Any of the aspects herein, wherein the one or more actuators include a first actuator configured to extend the guide pin beyond a tip of the cutting tool and a second actuator configured to linearly extend the cutting tool toward an end of the guide pin.

[0020] Any of the aspects herein further include one or more sensors configured to measure at least one force exerted on the anatomical element, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to pause the one or more actuators and the motor when the measured at least one force meets or exceeds a predetermined threshold.

[0021] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to generate a notification when the measured at least one force meets or exceeds the predetermined threshold.

[0022] A cutting system according to at least one embodiment of the disclosure includes a cutting tool having a sleeve, a guide pin positioned in the sleeve, a motor configured to rotate the cutting tool and the guide pin, one or more actuators configured to rotate and extend the guide pin and the cutting tool, and further configured to extend the guide pin beyond a tip of the cutting tool, a processor, and a memory storing data for processing by the processor, the data, when processed, causing the processor to position the cutting tool near a surface of an anatomical element, cause the motor to rotate the guide pin and the cutting tool, cause a first actuator of the one or more actuators to extend the guide pin beyond a tip of the cutting tool while the motor rotates the guide pin and the cutting tool to cause the guide pin to cut the anatomical element, and cause a second actuator of the one or more actuators to linearly extend the cutting tool toward an end of the guide pin while the motor rotates the guide pin and the cutting tool to cut the anatomical element with the cutting tool.

[0023] Any of the aspects in combination with any one or more of the other aspects.

[0024] Any one or more of the features disclosed herein.

[0025] Any one or more of the features substantially as disclosed herein.

[0026] Any one or more of the features substantially as disclosed herein in combination with any one or more of the other features substantially as disclosed herein.

[0027] Any of these aspects / features / embodiments in combination with any one or more of the other aspects / features / embodiments.

[0028] Use of any one or more of the aspects or features substantially as disclosed herein.

[0029] It should be understood that any of the features described herein can be claimed in combination with any other feature(s) as described herein, regardless of whether the features come from the same described embodiment.

[0030] The details of one or more aspects of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the technologies described in this disclosure will be apparent from the description and drawings, and from the claims.

[0031] The phrases "at least one", "one or more" and "and / or", as used herein, are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions "at least one of A, B, and C", "one or more of A, B, or C", "at least one of A, B, and C", "one or more of A, B, or C" means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B, and C together. When each of A, B, and C is a category (e.g., X1-Xn, Y1-Ym, and Z1-Zo), then the phrase "at least one of A, B, and C" means that at least one element of each of the categories A, B, and C is selected. For example, "at least one of X1-Xn, Y1-Ym, and Z1-Zo" means at least one of X1-Xn, at least one of Y1-Ym, or at least one of Z1-Zo.

[0032] The term "a" or "an" entity refers to one or more of that entity. As such, the terms "a" (or "an"), "one or more" and "at least one" can be used interchangeably herein. It is also to be noted that the terms "comprising", "including", and "having" can be used interchangeably.

[0033] The foregoing is a simplified summary of the disclosure to provide an understanding of some aspects of the disclosure. The summary is neither an extensive nor exhaustive overview of the disclosure and its various aspects, embodiments and configurations. It is intended to neither identify key or critical elements of the disclosure nor delineate the scope of the disclosure but to present selected concepts of the disclosure in a simplified form as an introduction to the more detailed description presented below. As will be appreciated, other aspects, embodiments and configurations of the disclosure can utilize one or more of the features set forth above without resorting to the details of the summary.

[0034] Many additional features and advantages of the disclosure will be apparent from the embodiments description provided below. BRIEF DESCRIPTION OF DRAWINGS

[0035] The accompanying drawings are incorporated in and constitute a part of this specification, and together with the description, explain the principles of the disclosure. The drawings, which are merely illustrative, allow those skilled in the art to understand the principles of the disclosure. The drawings illustrate how the preferred and alternative examples of the disclosure can be made and used, and should not be construed as limiting the disclosure to only the examples illustrated and described. Additional features and advantages will be apparent from the more detailed description of various aspects, embodiments and configurations of the disclosure, as illustrated in the drawings referenced below.

[0036] Figure 1A is a front side angled view of a cutting system according to at least one embodiment of the present disclosure; Figure 1B is a front side angled view of a cutting system according to at least one embodiment of the present disclosure; Figure 1A is a back side angled view of a cutting system according to at least one embodiment of the present disclosure; Figure 1C is a back side angled view of a cutting system according to at least one embodiment of the present disclosure; Figure 1A is a side angled view of a cutting system according to at least one embodiment of the present disclosure, with the housing shown in a transparent manner; Figure 1D is a side angled view of a cutting system according to at least one embodiment of the present disclosure, with the housing removed; Figure 1A Figure 1E Figure 1A is a side angled view of a cutting system according to at least one embodiment of the present disclosure, with an actuator for guiding a pin; Figure 2A is a side cross-sectional view of a cutting housing according to at least one embodiment of the present disclosure; Figure 2B is a side cross-sectional view of a cutting housing according to at least one embodiment of the present disclosure; Figure 2A Figure 2C Figure 2A is a side angled view of a pin pusher according to at least one embodiment of the present disclosure; Figure 3A is a side view of a cutting system in a first configuration according to at least one embodiment of the present disclosure; Figure 3B is a side view of a cutting system in a second configuration according to at least one embodiment of the present disclosure; Figure 3A Figure 3C Figure 3A is a side view of a cutting system in a third configuration according to at least one embodiment of the present disclosure; Figure 3D is a side view of a cutting system in a fourth configuration according to at least one embodiment of the present disclosure; Figure 3A Figure 4 is a block diagram of a system according to at least one embodiment of the present disclosure; and Figure 5 is a flowchart according to at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0037] ​​​​​​​It should be understood that various aspects disclosed herein can be combined in different combinations than the combinations expressly presented in the description and accompanying drawings. It should also be understood that, depending on the example or embodiment, certain acts or events of any of the processes described herein can be performed in a different sequence, and / or certain acts or events can be omitted, and / or certain acts or events can be added, corresponding to the application of the technology of the present disclosure to different examples or embodiments. Furthermore, although certain aspects of the present disclosure are described as being performed by a single module or unit for purposes of clarity, it should be understood that the technology of the present disclosure can be performed by a combination of units or modules associated with, for example, computing devices and / or medical devices.

[0038] In one or more examples, the described methods, processes, and techniques can be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions can be stored on a computer-readable medium and executed by a hardware-based processing unit. Alternatively, or in addition, the functions can be implemented using a machine learning model, neural network, artificial neural network, or combination thereof, alone or in combination with instructions. The computer-readable medium can include a non-transitory computer-readable medium that corresponds to a tangible medium like data storage media (e.g., RAM, ROM, EEPROM, flash memory or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0039] The instructions can be executed by one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple A11, A12, A12X, A12Z, or A13 Bionic processors; or any other general purpose microprocessors), graphics processing units (e.g., Nvidia GeForce RTX 2000 series processors, Nvidia GeForce RTX 3000 series processors, AMD Radeon RX 5000 series processors, AMD Radeon RX 6000 series processors, or any other graphics processing unit), application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” as used herein can refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0040] Before any embodiments of the disclosure are explained in detail, it is to be understood that the application of the disclosure is not limited to the detailed description thereof or the constructions described therein but is applicable to other constructions and arrangements as well. The disclosure is capable of other embodiments and of being practiced or being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and not of limitation. The use of the terms “including,” “comprising,” or “having” and variations thereof herein is intended to be broad and encompass the presence of one or more items or components. Further, the disclosure can be illustrated using examples. The use of one or more examples, or the use of a phrase such as “for example,” “by way of example,” “e.g.,” “such as,” or similar language, to describe a particular aspect of the disclosure, is not intended to limit the scope of the disclosure to only those examples. It is to be understood that other aspects of the disclosure will become apparent from the following detailed description.

[0041] The terms "proximal" and "distal" are used in this disclosure in their conventional medical meanings, with "proximal" being closer to an operator or user of the system and further from a surgical area of interest in or on a patient, and "distal" being closer to the surgical area of interest in or on the patient and further from the operator or user of the system.

[0042] During a surgical procedure, such as a spinal surgery, a pilot hole of about 3 mm can be drilled for insertion of a screw implant. Conventional surgical drills operating at low speeds of up to about 1000 rpm can experience slippage during drilling. Slippage can result in pilot hole misplacement and / or can cause harm to the patient. Conventional surgical procedures that are performed manually for one or more surgical steps can require multiple tools to reduce or eliminate the risk of slippage. Avoiding slippage can be more challenging in minimally invasive surgical procedures.

[0043] Surgical procedures can be performed autonomously or semi-autonomously with surgical robots. In such use, robotic surgery requires automated tools to drill pilot holes without the risk of slippage and without the need for human operator intervention. It is also desirable to accomplish this in a simple manner, i.e., using a minimum number of tools to make the procedure efficient and as time-efficient as possible.

[0044] According to at least one embodiment of the present disclosure, an automated solution is provided for eliminating slippage that occurs during drilling with one tool in a surgical procedure, such as a minimally invasive surgery. The one tool can include, for example, a cutting tool (e.g., a surgical drill) having a sleeve and a guide pin disposed in the sleeve. A guide wire can extend beyond a tip or end of the cutting tool for drilling or cutting a pilot hole; the cutting tool then extends along the guide pin for drilling or cutting a remaining portion of a desired hole. The tool can eliminate some conventional tools and make robotic operations more efficient, safe, and fast.

[0045] Embodiments of the present disclosure provide technical solutions to one or more of the following problems: (1) automatically drilling one or more holes with reduced or eliminated slippage, (2) automatically drilling a pilot hole and a desired hole or target hole with one tool, and (3) improving safety for patients and surgical teams.

[0046] Turning to Figures 1A-1DFIGS. 1-4 illustrate a cutting system 100 in accordance with at least one embodiment of the present disclosure. FIG. 1 illustrates the cutting system 100 in a first position, FIG. 2 illustrates the cutting system 100 in a second position, FIG. 3 illustrates the cutting system 100 in a third position, and FIG. 4 illustrates the cutting system 100 in a fourth position. The cutting system 100 advantageously includes a combination of components and features for preventing slippage during cutting (e.g., cutting, drilling, etc.) of an anatomical element (e.g., bone). The cutting system 100 includes a cutting tool 104 having a sleeve 106 and a guide pin 108 positioned in the sleeve 106. The cutting system 100 also includes a motor 110 configured to rotate the cutting tool 104 and the guide pin 108, and one or more actuators 112 configured to extend the guide pin 108, extend the cutting tool 104, and / or extend the guide pin 108 and the cutting tool 104 together. The motor 110, one or more of the actuators 112, and at least a portion of the cutting tool 104 and / or the guide pin 108 can be positioned in a housing 102. The remaining portion of the cutting tool 104 and the guide pin 108 can be at least partially housed in the cutting tool housing 102.

[0047] The motor 110 is configured to rotate the cutting tool 104 and / or the guide pin 108, and can receive instructions from, for example, a computing device (such as the computing device 402 (shown) and / or the robot 414. The motor 110 can be an electric motor, a pneumatic motor, a hydraulic motor, a gear motor, an AC brushless motor, a DC brush motor, a DC brushless motor, a servo motor, or any other type of motor. In some embodiments, the motor 110 can be positioned in the robot 414 or in a robotic arm 416 of the robot 414. Figure 4 The one or more actuators 112 are configured to linearly move or extend the guide pin 108 and / or the cutting tool 104. The one or more actuators 112 can receive instructions from, for example, the computing device 402 and / or the robot 414. The one or more actuators 112 can be, for example, electric actuators, hydraulic actuators, and / or pneumatic actuators. In some embodiments, the one or more actuators 112 can be positioned in the robot 414 or in the robotic arm 416 of the robot 414.

[0048] The one or more actuators 112 are configured to linearly move or extend the guide pin 108 and / or the cutting tool 104. The one or more actuators 112 can receive instructions from, for example, the computing device 402 and / or the robot 414. The one or more actuators 112 can be, for example, electric actuators, hydraulic actuators, and / or pneumatic actuators. In some embodiments, the one or more actuators 112 can be positioned in the robot 414 or in the robotic arm 416 of the robot 414.

[0049] The cutting tool housing 102 can extend from a first end 114 to a second end 116 opposite the first end 114. The cutting tool housing 102 can include a shaft 118 having an internal bore 120. The cutting tool 104 can be positioned in and movable within the shaft 118. The shaft 118 can also include one or more slots 122 for receiving a guide pin pusher 124 configured to push and extend the guide pin 108 beyond an end 126 or tip of the cutting tool 104. It should be appreciated that in some embodiments, the guide pin pusher 124 can be fully enclosed in the cutting tool housing 102 and the cutting tool housing 102 can not include the one or more slots.

[0050] Turning to Figures 1C-1E , the motor 110 and / or one or more actuators 112 can be positioned in the housing 102. It should be appreciated that in some embodiments, the motor 110 and / or one or more actuators can be positioned outside of the housing 102. The motor 110 can be configured to rotate the guide pin 108 and / or the cutting tool 104. In other embodiments, the motor 110 can include more than one motor 110. For example, one motor can rotate the cutting tool 104 and another motor can rotate the guide pin 108. The one or more actuators 112 can include one actuator, two actuators, or more than two actuators. In some embodiments, the one or more actuators 112 can include a first actuator 112A (shown in Figure 1E FIG. 1) configured to extend the guide pin 108 beyond the end 126 of the cutting tool 104; a second actuator configured to linearly move or extend the guide pin 108 and the cutting tool 104, and / or a third actuator configured to linearly move the guide pin 108 and the cutting tool 104.

[0051] As shown in Figure 1E , the guide pin 108 can include one or more knobs 136 (also shown in Figures 1A-2C FIG. 2) that can be pushed by the first actuator 112A via a guide pin connector 111. In some embodiments, the guide pin connector 111 is integral with the one or more knobs 136 such that the guide pin connector 111 and the guide pin 108 are one piece. The guide pin connector 111 can include a stem 113 coupled to the first actuator 112A and a flange 115 extending from the stem 113 to the one or more knobs 136 (or any portion of the guide pin 108) in order to connect the guide pin connector 111 to the guide pin 108. It should be appreciated that in other embodiments, the guide pin 108 can be manually actuated as will be described below in Figures 2A-2C .

[0052] The cutting system 100 can be connected to a power source 130 via a connector 128 (Figure 1B The cutting system 100 can be releasably coupled to a robot, such as the robot 414 (shown), for example. The cutting system 100 can be autonomously supported, oriented, and / or operated by the robot 414, for example. In other embodiments, the cutting system 100 can be semi-autonomously operated by the robot 414 and / or a user, such as a surgeon or other medical provider. In yet other embodiments, the cutting system 100 can be manually supported, oriented, and / or operated by a user, for example. Figure 4 The cutting system 100 can be releasably coupled to a robot, such as the robot 414 (shown), for example. The cutting system 100 can be autonomously supported, oriented, and / or operated by the robot 414, for example. In other embodiments, the cutting system 100 can be semi-autonomously operated by the robot 414 and / or a user, such as a surgeon or other medical provider. In yet other embodiments, the cutting system 100 can be manually supported, oriented, and / or operated by a user, for example.

[0053] Turning to Figures 2A-2C , detailed side cross-sectional views of the first end 114 of the cutting housing 140, another detailed side cross-sectional view of the first end 114 of the cutting housing 140, and a detailed view of the guide pin pusher 124 are shown, respectively. As previously described, the guide pin 108 is positioned in the cannula 106 of the cutting tool 104 and can extend beyond the end 126 of the cutting tool 104 (shown in Figure 2B By extending beyond the end 126 of the cutting tool 104, the guide pin 108 can be used to cut or drill a pilot hole while avoiding slippage, as will be discussed in more detail in Figures 3A-3D and Figure 5 . The guide pin 108 can include a K-wire, a metal pin, or any other solid pin capable of being drilled into an anatomical element, such as a bone. The cutting tool 104 can be a surgical drill, for example, but in other embodiments, the cutting tool 104 can be any surgical instrument capable of cutting and / or drilling an anatomical element, such as a bone.

[0054] The guide pin 108 and the cutting tool 104 can be connected to a rotating shaft 130, which is rotated and driven by the motor 110. The rotating shaft 130 can also include a cavity 132 in which an end 134 of the guide pin 108 and the guide pin pusher 124 are disposed. As described above, the guide pin 108 can be extended or pushed beyond the end 126 of the cutting tool 104. In the illustrated embodiment, the guide pin 108 is pushed within the cavity 132 by the guide pin pusher 124, which pushes the end of the guide pin 108 beyond the end 126 of the cutting tool 104. The guide pin pusher 124 can include one or more knobs 136 (also shown in Figures 1A-2C ), which can be manually pushed by a user, such as a surgeon or medical provider, for example. It should be understood that in other embodiments, the guide pin pusher 124 can not include one or more knobs 136 and can be automatically actuated by an actuator, such as the first actuator 112A described above, for example. The guide pin 108 can be extended or pushed a distance 142. The distance 142 can be about 10 mm, but it should be understood that the distance 142 can be less than or greater than 10 mm.

[0055] Turning to Figures 3A-3D , the cutting tool 104 and the guide pin 108 are shown in a first configuration, a second configuration, a third configuration, and a fourth configuration, respectively. As shown in Figure 3A , the cutting system 100 (e.g., the cutting tool 104 and the guide pin 108) is positioned proximate to a surface 148 of an anatomical element 146 (e.g., a bone). The cutting tool 104 can be positioned about 2 to 3 mm above the surface 148, although it should be understood that in other instances, the cutting tool 104 can be positioned at any distance above the surface. As shown in Figure 3B , the guide pin 108 can be extended beyond the end 126 of the cutting tool 104 by, for example, the first actuator 112A. In some instances, the guide pin 108 can be pushed or hammered into the anatomical element 146. In other instances, the guide pin 108 can be rotated by the motor 110 (whether or not the cutting tool 104 is rotated), while being extended by the first actuator 112A, such that the guide pin 108 cuts or drills into the anatomical element 146. It should be understood that in other instances, the guide pin 108 can be partially hammered into the anatomical element 146 and then rotated. The guide pin 108 can extend a distance 142 that is the distance that the guide pin pusher 124 extends the guide pin 108. Beneficially, the guide pin 108 is less prone to slipping due to its smaller diameter (relative to the cutting tool 104) and pointed tip. Thus, the guide pin 108 can set a trajectory for the cutting tool 104 in the anatomical element 146 by forming a pilot hole.

[0056] Turning to Figure 3C , the cutting tool 104 is rotated (whether or not the guide pin 108 is rotated) and extended toward the end 144 of the guide pin 108, such that the cutting tool 104 drills or cuts the anatomical element 146. During such cutting or drilling, the cutting tool 104 is guided into the anatomical element 146 by the guide pin 108, and thus, slipping of the cutting tool 104 is eliminated or prevented by keeping the cutting tool 104 fixed to the anatomical element due to the guide pin 108. In other words, when the cutting tool 104 is guided along the guide pin 108 and into the pilot hole formed by the guide pin 108, the cutting tool 104 is prevented from slipping or sliding along the surface 148 of the anatomical element 146. Once the cutting tool 104 has reached the end 144 of the guide pin 108, the cutting tool 104 and the guide pin 108 are rotated and advanced together to cut or drill the anatomical element for a desired depth, as shown in Figure 3D . The desired depth can be, for example, 30 mm; however, it should be understood that the desired depth can be any depth, such as less than, equal to, or greater than 30 mm.

[0057] Turning to Figure 4FIG. 4 shows a block diagram of a system 400, in accordance with at least one embodiment of the present disclosure. System 400 can be used to autonomously or semi-autonomously cut or drill anatomical elements using a cutting system, such as cutting system 100, and / or to carry out one or more other aspects of one or more of the methods disclosed herein. System 400 includes a computing device 402, one or more cutting systems 100, a robot 414, a navigation system 418, a database 430, and / or a cloud or other network 434. Systems in accordance with other embodiments of the present disclosure can include more or fewer components than system 400. For example, system 400 can not include robot 414, navigation system 418, one or more components of computing device 402, database 430, and / or cloud 434.

[0058] Computing device 402 includes a processor 404, a memory 406, a communication interface 408, and a user interface 410. Computing devices in accordance with other embodiments of the present disclosure can include more or fewer components than computing device 402.

[0059] Processor 404 of computing device 402 can be any processor described herein or any similar processor. Processor 404 can be configured to execute instructions stored in memory 406 that can cause processor 404 to carry out one or more computational steps with or based on data received from cutting system 100, robot 414, navigation system 418, database 430, and / or cloud 434.

[0060] Memory 406 can be or include RAM, DRAM, SDRAM, other solid state memory, any memory described herein, or any other tangible, non-transitory memory for storing computer-readable data and / or instructions. Memory 406 can store information or data that can be used to complete any step of, for example, method 500 or any other method described herein. Memory 406 can store, for example, instructions and / or machine learning models that support one or more functions of robot 414. For example, memory 406 can store content (e.g., instructions and / or machine learning models) that, when executed by processor 404, implement signal processing 420 and / or notification generation 422.

[0061] Sensor processing 420 enables the processor 404 to process sensor data received from sensors, such as the sensor 426. The sensor data can be processed to obtain, for example, a force exerted on an anatomical element by the cutting system 100, more specifically by the cutting tool 104 and / or the guide pin 108. Such information can be used to determine whether the force is greater than a predetermined threshold; where a force that exceeds the predetermined threshold can damage the anatomical element or can indicate that there is a problem with the cutting system 100. The processed sensor data can be used to determine, for example, when to stop the cutting tool 104 and / or the guide pin 108 from further operation to prevent damage to the anatomical element and / or the cutting system 100.

[0062] Notification generation 422 enables the processor 404 to generate a notification when the processed sensor data, processed by, for example, the sensor processing 420 described above, meets or exceeds a predetermined threshold. It should be appreciated that, in some embodiments, a notification can be generated when the processed sensor data is below a predetermined threshold. In yet other embodiments, a notification can be generated when a difference between the processed sensor data and expected processed sensor data meets or exceeds a predetermined threshold. The notification can be an audible and / or visual notification (which can be displayed on, for example, the user interface 410).

[0063] In some embodiments, such content, if provided in the form of instructions, can be organized into one or more applications, modules, packages, layers, or engines. Alternatively or additionally, the memory 406 can store other types of content or data (e.g., machine learning models, artificial neural networks, deep neural networks, etc.) that can be processed by the processor 404 to carry out the various methods and features described herein. Thus, although the various content of the memory 406 can be described as instructions, it should be appreciated that the functionality described herein can be implemented using instructions, algorithms, and / or machine learning models. The data, algorithms, and / or instructions can cause the processor 404 to manipulate data stored in the memory 406, and / or data received from or via the cutting system 100, the robot 414, the database 430, and / or the cloud 434.

[0064] The memory 106 can also store a surgical plan 424. The surgical plan 424 can include, for example, one or more steps for performing a surgical procedure using the cutting system 100 and / or one or more predetermined thresholds for monitoring one or more parameters during the surgical procedure. In some embodiments, the surgical procedure can be a spinal procedure (e.g., spinal alignment, installing an implant, osteotomy, fusion, and / or any other spinal procedure) for correcting a spinal deformity. For example, the surgical plan 424 can include one or more surgical steps for preparing one or more holes for placement of an implant. The surgical plan 424 can also be stored in the database 430.

[0065] The computing device 402 can also include a communication interface 408. The communication interface 408 can be used to receive image data or other information from an external source, such as the cutting system 100, the robot 414, the navigation system 418, the database 430, the cloud 434, and / or any other system or component that is not part of the system 400, and / or to transmit instructions, images, or other information to an external system or device (e.g., another computing device 402, the cutting system 100, the robot 414, the navigation system 418, the database 430, the cloud 434, and / or any other system or component that is not part of the system 400). The communication interface 408 can include one or more wired interfaces (e.g., USB ports, Ethernet ports, Firewire ports) and / or one or more wireless transceivers or interfaces (e.g., configured to send and / or receive information via one or more wireless communication protocols, such as 802.11a / b / g / n, Bluetooth, NFC, ZigBee, etc.). In some embodiments, the communication interface 408 can be usable to enable the device 402 to communicate with one or more other processors 404 or computing devices 402, whether to reduce the time required to complete computationally intensive tasks or for any other reason.

[0066] The computing device 402 can also include one or more user interfaces 410. The user interface 410 can be or include a keyboard, a mouse, a trackball, a monitor, a television, a screen, a touchscreen, and / or any other device for receiving information from a user and / or for providing information to a user. The user interface 410 can be used, for example, to receive user selections or other user input regarding any step of any method described herein. Although as previously described, however, any required input for any step of any method described herein can be automatically generated by the system 400 (e.g., by the processor 404 or another component of the system 400) or received by the system 400 from a source external to the system 400. In some embodiments, the user interface 410 can be usable to allow a surgeon or other user to modify instructions to be executed by the processor 404 in accordance with one or more embodiments of the present disclosure, and / or to modify or adjust settings of other information displayed on or corresponding to the user interface 410.

[0067] Although the user interface 410 is shown as part of the computing device 402, in some embodiments, the computing device 402 can utilize a user interface 410 housed separately from one or more remaining components of the computing device 402. In some embodiments, the user interface 410 can be positioned proximate to one or more other components of the computing device 402, while in other embodiments, the user interface 410 can be positioned remote from one or more other components of the computing device 402.

[0068] The cutting system 100 as described above is configured to cut or drill anatomical elements, such as the anatomical element 146. The cutting system 100 includes the cutting tool 104 and the guide pin 108 that is extendable beyond the end 126 of the cutting tool 104. As previously described, by cutting the initial hole with the guide pin 108 and guiding the cutting tool 104 along the guide pin 108, the likelihood of slippage is reduced or eliminated.

[0069] The cutting system 100 can also include one or more sensors 426. The sensors 426 can be force sensors configured to detect forces exerted on the cutting tool 104 and / or a robotic arm (such as the robotic arm 416) of the robot 414. The sensors 426 can include one or more or any combination of electrical components, mechanical components, electromechanical components, magnetic components, electromagnetic components, etc. In some embodiments, the sensors 426 can include a memory for storing sensor data. In yet other examples, the sensors 426 can output signals (e.g., sensor data) to one or more sources (e.g., the cutting tool 100, the computing device 402, the navigation system 418, and / or the robot 414). The one or more sensors 426 can be positioned, for example, on the cutting tool 104, the robotic arm 416, or elsewhere. Data from the sensor(s) 426 can be provided to a processor of the robot 414, the processor 404 of the computing device 402, and / or the navigation system 418. The data can be processed by the sensor processing 420 to determine whether the processed sensor data meets or exceeds a predetermined threshold, which can indicate that the amount of force exerted on the anatomical element or received by the cutting system 100 is excessive.

[0070] The robot 414 can be any surgical robot or surgical robot system. The robot 414 can be or include, for example, the Mazor X® TMStealth robot guidance system. Robot 414 can be configured to position the cutting system 100 in one or more precise locations and orientations, and / or return the cutting system 100 to the same location(s) and orientation(s) at a later point in time. Robot 414 can be additionally or alternatively configured to manipulate surgical tools (whether or not based on guidance from navigation system 418) to perform or assist surgical tasks. In some embodiments, robot 414 can be configured to hold and / or manipulate anatomical elements during or in conjunction with surgical procedures. Robot 414 may include one or more robotic arms 416. In some embodiments, robotic arms 416 may include a first robotic arm and a second robotic arm, but robot 414 may include more than two robotic arms. In some embodiments, one or more of robotic arms 416 may be used to hold and / or manipulate the cutting system 100. In embodiments where the cutting system 100 includes two or more physically separate components (e.g., transmitters and receivers), one robotic arm 416 may hold one such component, and another robotic arm 416 may hold another such component. Each robotic arm 416 may be positioned independently of the other robotic arm. The robotic arm 416 can be controlled in a single shared coordinate space or in a separate coordinate space.

[0071] The robot 414, together with the robotic arm 416, may have, for example, one, two, three, four, five, six, seven, or more degrees of freedom. Furthermore, the robotic arm 416 can be positioned or localized in any pose, plane, and / or focal position. Pose includes position and orientation. Therefore, the cutting system 100, surgical instruments, or other objects held by the robot 414 (or more specifically, held by the robotic arm 416) can be precisely positioned in one or more desired and specific locations and orientations.

[0072] The (multiple) robotic arms 416 may include one or more sensors that enable the processor 404 (or the processor of the robot 414) to determine the precise pose of the robotic arms (and any objects or elements held or fixed to the robotic arms) in space.

[0073] In some embodiments, reference markers (e.g., navigation markers) may be placed on the robot 414 (including, for example, on the robotic arm 416), the cutting system 100, or any other object in the surgical space. The reference markers may be tracked by the navigation system 418, and the results of the tracking may be used by the operator of the robot 414 and / or the system 400 or any of its components. In some embodiments, the navigation system 418 may be used to track other components of the system, and the system may be operated without the use of the robot 414 (e.g., a surgeon may manually manipulate the cutting system 100 and / or one or more surgical instruments, for example, based on information and / or instructions generated by the navigation system 418).

[0074] During operation, navigation system 418 can provide navigation for the surgeon and / or surgical robot. Navigation system 418 can be any navigation system currently known or developed in the future, including, for example, Medtronic StealthStation. TM The S8 surgical navigation system or any subsequent system thereof. Navigation system 418 may include one or more cameras or (multiple) other sensors for tracking one or more reference markers, navigation trackers, or other objects within the operating room or other rooms where part or all of system 400 is located. The one or more cameras may be optical cameras, infrared cameras, or other cameras. In some embodiments, navigation system 418 may include one or more electromagnetic sensors. In various embodiments, navigation system 418 may be used to track the position and orientation (e.g., pose) of cutting system 100, robot 414 and / or robotic arm 416, and / or one or more surgical instruments (or more specifically, to track the pose of navigation trackers directly or indirectly attached in a fixed relationship to one or more of the foregoing). Navigation system 418 may include a display for displaying one or more images from an external source (e.g., computing device 402, cutting system 100, or other sources), or for displaying images and / or video streams from one or more cameras or other sensors of navigation system 418. In some embodiments, system 400 may operate without using navigation system 418. The navigation system 418 can be configured to provide guidance to the surgeon or other users of the system 400 or its components, to the robot 414 or any other element of the system 400, regarding, for example, the pose of one or more anatomical elements, whether the tool is in the appropriate trajectory, and / or how to move the tool into the appropriate trajectory to perform the surgical task according to the preoperative or other surgical plan.

[0075] The database 430 can store a surgical plan 424 (including, for example, pose information about a target, and / or image information about patient anatomy at and / or near a surgical site, for use by the robot 414, the navigation system 418, and / or a user of the computing device 402 or system 400). The database 430 can be configured to provide any such information to the computing device 402, or to any other device of or external to the system 400, directly or via the cloud 434. In some embodiments, the database 430 can be or include part of a hospital image storage system, such as a picture archiving and communication system (PACS), a health information system (HIS), and / or another system for collecting, storing, managing, and / or transmitting electronic medical records including image data.

[0076] The cloud 434 can be or represent the Internet or any other wide area network. The computing device 402 can connect to the cloud 434 using a wired connection, a wireless connection, or both, via the communication interface 408. In some embodiments, the computing device 402 can communicate with the database 430 and / or external devices (e.g., computing devices) via the cloud 434.

[0077] The system 400 or a similar system can be used, for example, to carry out one or more aspects of any of the methods 500 described herein. The system 400 or a similar system can also be used with the cutting system 100. The system 400 or a similar system can also be used for other purposes.

[0078] Figure 5 A method 500 is depicted that can be used, for example, to cut an anatomical element.

[0079] The method 500 (and / or one or more steps thereof) can be carried out or otherwise performed, for example, by at least one processor. The at least one processor can be the same as or similar to the processor(s) 404 of the computing device 402 described above. The at least one processor can be part of a robot, such as the robot 414, or part of a navigation system, such as the navigation system 418. A processor other than any described herein can also be used to perform the method 500. The at least one processor can perform the method 500 by executing elements stored in a memory, such as the memory 406. The elements stored in the memory and executed by the processor can cause the processor to perform one or more steps of functionality as shown in the method 500. One or more portions of the method 500 can be performed by a processor that executes any content of the memory, such as the sensor processing 420 and / or the notification generation 422.

[0080] The method 500 includes positioning a cutting tool (step 504). The cutting tool can be the same as or similar to the cutting tool 104 of a cutting system, such as the cutting system 100. The cutting system can also include a guide pin, such as the guide pin 108, positioned in a sleeve, such as the sleeve 106 of the cutting tool. The cutting system also includes a motor, such as the motor 110, configured to rotate the cutting tool and / or the guide pin, and one or more actuators, such as the one or more actuators 112, configured to linearly extend the cutting tool and / or the guide pin.

[0081] The cutting tool can be positioned autonomously or semi-autonomously by a robotic arm, such as the robotic arm 416, of a robot, such as the robot 414. The cutting tool can also be operated autonomously or semi-autonomously by the robot. In other instances, the cutting tool can be manually operated by a user, such as a surgeon or other medical provider. The cutting tool can be positioned proximate to a surface, such as the surface 148, of an anatomical element, such as the anatomical element 146, which can be, for example, a bone.

[0082] The method 500 also includes rotating the guide pin and the cutting tool (step 508). The guide pin and the cutting tool can be rotated by the motor via a rotation axis, such as the rotation axis 130. In some embodiments, one or more motors can independently rotate the guide pin and the cutting tool. The motor can be operated autonomously, where the motor operates according to a surgical plan, such as the surgical plan 424. In other embodiments, the motor can be operated based on user input received via, for example, a user interface, such as the user interface 410.

[0083] The method 500 also includes extending the guide pin (step 512). The guide pin can be extended beyond an end or tip of the cutting tool by a first actuator, such as the first actuator 112A, of the one or more actuators. The guide pin can be extended or pushed by a guide pin pusher, such as the guide pin pusher 124. The guide pin pusher can be disposed in a cavity, such as the cavity 132, of the rotation axis. The guide pin pusher can include one or more knobs, such as the one or more knobs 136, which can be manually pushed by, for example, a user, such as a surgeon or medical provider. It should be appreciated that, in other embodiments, the guide pin pusher can not include one or more knobs and can be automatically actuated by, for example, an actuator, such as the first actuator. The guide pin can be extended or pushed a distance. The distance can be about 10 mm, although it should be appreciated that the distance can be less than or greater than 10 mm.

[0084] In some cases, the guide pin can be extended and pushed or hammered into the anatomical element. In other instances, the guide pin can be rotated by a motor (whether or not the cutting tool is rotated) while being extended by a first actuator, causing the guide pin to cut or drill into the anatomical element. It should be understood that in other instances, the guide pin can be partially hammered into the anatomical element and then rotated. The guide pin can be extended approximately the distance that the guide wire pusher extends the guide pin. Advantageously, the guide pin is less prone to slippage due to its small diameter (relative to the cutting tool) and pointed end. Therefore, the guide pin can be used to set the trajectory of the cutting tool in the anatomical element by forming a guide hole.

[0085] Method 500 further includes extending the cutting tool toward the end of the guide pin (step 516). As previously described, the cutting tool rotates and extends toward the end of the guide pin, causing the cutting tool to drill or cut the anatomical element. During such cutting or drilling, the cutting tool is guided into the anatomical element via the guide pin, and thus, by keeping the cutting tool fixed to the anatomical element due to the guide pin, slippage of the cutting tool is eliminated or prevented. In other words, as the cutting tool is guided along the guide pin and into the guide hole formed by the guide pin, slippage or sliding along the surface of the anatomical element is prevented. The cutting tool can be advanced by, for example, a second actuator (such as second actuator 112B).

[0086] Method 500 also includes extending the cutting tool and guide pin (step 520). Once the cutting tool has reached the end of the guide pin, the cutting tool and guide pin rotate together and advance to cut or drill the anatomical element to the desired depth. The desired depth may be, for example, 30 mm; however, it should be understood that the desired depth may be any depth, such as less than, equal to, or greater than 30 mm. The cutting tool and guide pin may be moved by a third actuator, or in other instances, by a robotic arm.

[0087] The method 500 also includes pausing rotation and / or extension of the cutting tool and the guide pin when the measured value meets or exceeds a predetermined threshold (step 524). The measured value can be sensed by a sensor, such as the sensor 426. The sensor can continuously sense or measure the value during operation of the cutting system, can sense or measure the value based on user input, or can intermittently (e.g., at certain time intervals) sense or measure the value. The sensor can be a force or torque sensor configured to detect a force exerted on the cutting tool. The sensor can include one or more of or any combination of electrical components, mechanical components, electromechanical components, magnetic components, electromagnetic components, and the like. In some embodiments, the sensor can include a memory for storing sensor data. In yet other examples, the sensor can output a signal (e.g., sensor data) to one or more sources (e.g., the cutting tool, a computing device such as the computing device 402, and / or a navigation system such as the navigation system 418).

[0088] The sensor data can be processed by a processor, such as the processor 104, using a sensor process, such as the sensor process 420. The sensor process enables the processor to process the sensor data to obtain, for example, a force exerted by the cutting system, more specifically by the cutting tool and / or the guide pin, on an anatomical element. Such information can be used to determine whether the force is greater than a predetermined threshold; where a force that exceeds the predetermined threshold can damage the anatomical element or can indicate that there is a problem with the cutting system. When the processed sensor data meets or exceeds the predetermined threshold, the processor (or a processor of the robot, a navigation device, or any other processor) can generate an instruction to cause the motor and / or actuator to stop rotation and / or extension of the cutting tool and / or the guide pin, thereby preventing damage to the anatomical element and / or the cutting system.

[0089] The method 500 also includes generating a notification when the measured value meets or exceeds the predetermined threshold (step 528). Step 528 can be the same as or similar to step 524 in terms of measuring and processing sensor data received from a sensor.

[0090] The notification can be a visual notification, an audible notification, or any type of notification communicated to the user. The notification can be communicated to the user via a user interface. In some embodiments, the notification can be automatically generated by the processor. In other embodiments, the notification can be automatically generated by any component of the system, such as the system 400. In some embodiments, the predetermined threshold can be automatically determined using artificial intelligence and training data (e.g., historical cases). In other embodiments, the predetermined threshold can be or include or be based on surgeon input received via a user interface. In further embodiments, the predetermined threshold can be automatically determined using artificial intelligence and thereafter can be reviewed and approved (or modified) by a surgeon or other user. In examples in which the predetermined threshold includes multiple predetermined thresholds, a notification can be generated for each expected value that meets or exceeds a corresponding predetermined threshold, which can be desirable to avoid or otherwise mitigate.

[0091] Step 528 can occur concurrently with step 524. In some embodiments, the method 500 can not include steps 524 and / or 528. For example, in some embodiments, step 524 can only occur when the measured value meets or exceeds the predetermined threshold. In other embodiments, step 528 can only occur when the measured value meets or exceeds the predetermined threshold. In yet other embodiments, the method 500 can not include steps 524 and 528.

[0092] The present disclosure encompasses embodiments of the method 500 that include more or fewer steps than those described above and / or one or more steps that are different than those described above.

[0093] As described above, the present disclosure encompasses methods having fewer than Figure 5 methods that include all of the steps identified in Figure 5 additional steps to those identified in The present disclosure also encompasses methods that include one or more steps from one method described herein and one or more steps from another method described herein. Any dependency described herein can be or include a registration or any other dependency.

[0094] The foregoing is not intended to limit the disclosure to one or more forms shown. For example, in the foregoing DETAILED DESCRIPTION, various features of the disclosure are grouped together in one or more aspects, embodiments, and / or configurations for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the aspects, embodiments, and / or configurations of the disclosure are to function only in the groupings described. Rather, the features of the aspects, embodiments, and / or configurations of the disclosure can be combined in any of the recited ways, or other ways, and used or practiced, without limitation, in various combinations, permutations, aggregates, and methods. Accordingly, the disclosure is not to be interpreted that the inventive aspects are to function only in the specifically described aspects, embodiments, and / or configurations. Rather, the features of the aspects, embodiments, and / or configurations of the disclosure are to be interpreted as being among alternatives, equivalents, and / or equivalents of the recited features. Thus, the claims are to be construed according to the full scope of equivalents, as such claims are to be accorded their broadest interpretation under the patent laws.

[0095] Moreover, although the foregoing has been described in some detail for purposes of clarity, it is to be understood that certain changes and modifications can be made to the described embodiments, by those skilled in the art now or hereafter, without departing from the disclosed aspects, embodiments, and / or configurations, e.g., as set forth in the claims. It is also to be understood that the following claims are to govern the scope of the disclosed aspects, embodiments, and / or configurations. Express language, such as "the best mode for carrying out the application" where recited, should not necessarily be limiting, unless otherwise indicated. Accordingly, the disclosure is not to be limited as by the recited disclosure, which includes many specifics, or by any means, but only by the appended claims, whenever and wherever such enforcement is sought.

[0096] A set of examples is provided below: Example 1 : A cutting system (e.g., 100) comprising: a cutting tool (e.g., 104) having a sleeve (e.g., 106); a guide pin (e.g., 108) positioned in the sleeve; a motor (e.g., 110) configured to rotate the cutting tool and the guide pin; and one or more actuators (e.g., 112) configured to extend the guide pin and the cutting tool, and further to extend the guide pin beyond a tip of the cutting tool.

[0097] Example 2: The system of example 1, further comprising: a processor (e.g., 404); and a memory (e.g., 406) storing data for processing by the processor, the data, when processed, causing the processor to: position the cutting tool proximate a surface (e.g., 148) of an anatomical element (e.g., 146); cause the motor to rotate the guide pin and the cutting tool; while the motor is rotating the guide pin and the cutting tool, cause a first actuator (e.g., 112A) of the one or more actuators to extend the guide pin beyond a tip (e.g., 126) of the cutting tool to cause the guide pin to cut the anatomical element; and while the motor is rotating the guide pin and the cutting tool, cause the cutting tool to linearly extend toward an end (e.g., 144) of the guide pin to cut the anatomical element with the cutting tool.

[0098] Example 3: The system of example 1 or 2, wherein the memory stores further data for processing by the processor, the further data, when processed, causing the processor to: while the motor is rotating the guide pin and the cutting tool, cause the cutting tool and the guide pin to linearly extend together into the anatomical element to cut the anatomical element with the cutting tool.

[0099] Example 4: The system of any one of examples 1-3, further comprising a robotic arm (e.g., 416) configured to support, orient, and operate the automated cutting system.

[0100] Example 5: The system of any one of examples 1-4, wherein the robotic arm positions the cutting tool proximate a surface of the anatomical element.

[0101] Example 6: The system of any one of examples 1-5, wherein at least one of the robotic arm or a second actuator (e.g., 112B) of the one or more actuators causes the cutting tool and the guide pin to linearly extend together into the anatomical element.

[0102] Example 7: The system of any one of examples 1-6, wherein a second actuator (e.g., 112B) of the one or more actuators causes the cutting tool to linearly extend toward an end of the guide pin.

[0103] Example 8: The system of any of examples 1-7, wherein the one or more actuators include: a first actuator (e.g., 112A) configured to cause the guide pin to extend beyond a tip of the cutting tool; a second actuator (e.g., 112B) configured to cause the cutting tool to linearly extend to an end of the guide pin; and a third actuator configured to cause the guide pin and the cutting tool to linearly move or extend.

[0104] Example 9: The system of any of examples 1-8, wherein the guide pin includes a K-wire and the cutting tool includes a surgical bur.

[0105] Example 10: The system of any of examples 1-9, further comprising: a guide pin pusher (e.g., 124) configured to push the guide pin through the cannula, wherein the guide pin is operated by one of the one or more actuators.

[0106] Example 11: The system of any of examples 1-10, further comprising: a housing (e.g., 102) that houses the motor, the one or more actuators, and at least a portion of each of the cutting tool and the guide pin.

[0107] Example 12: The system of any of examples 1-11, wherein the guide pin pusher is manually actuated.

[0108] Example 13: The system of any of examples 1-12, further comprising: one or more sensors (e.g., 426) configured to measure at least one force exerted on the anatomical element, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: pause the one or more actuators and the motor when the measured at least one force meets or exceeds a predetermined threshold.

[0109] Example 14: The system of any of examples 1-13, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: generate a notification when the measured at least one force meets or exceeds the predetermined threshold.

[0110] Example 15: A system (e.g., 100) comprising: a cutting tool (e.g., 104) having a cannula (e.g., 106); a guide pin (e.g., 108) positioned in the cannula; a processor (e.g., 404); and a memory (e.g., 406) storing data for processing by the processor, the data, when processed, causing the processor to: position the cutting tool proximate a surface (e.g., 148) of an anatomical element (e.g., 146); rotate the guide pin and the cutting tool; while the guide pin and the cutting tool are rotating, extend the guide pin beyond a tip (e.g., 126) of the cutting tool, thereby causing the guide pin to cut the anatomical element; and while the guide pin and the cutting tool are rotating, linearly extend the cutting tool toward an end (e.g., 144) of the guide pin, thereby cutting the anatomical element with the cutting tool.

[0111] Example 16: The system of example 15, further comprising: one or more actuators (e.g., 112) configured to cause the guide pin to extend; and a motor (e.g., 110) configured to cause the guide pin and the cutting tool to rotate.

[0112] Example 17: The system of any one of examples 15-16, wherein the one or more actuators comprise a first actuator (e.g., 112A) configured to cause the guide pin to extend beyond the tip of the cutting tool; and a second actuator (e.g., 112B) configured to cause the cutting tool to linearly extend toward the end of the guide pin.

[0113] Example 18: The system of any one of examples 15-17, further comprising: one or more sensors (e.g., 426) configured to measure at least one force exerted on the anatomical element, wherein the memory stores further data for processing by the processor, the data, when processed, causing the processor to: pause the one or more actuators and the motor when the measured at least one force meets or exceeds a predetermined threshold.

[0114] Example 19: The system of any one of examples 15-19, wherein the memory stores further data for processing by the processor, the further data, when processed, causing the processor to: generate a notification when the measured at least one force meets or exceeds the predetermined threshold.

[0115] Example 20: A cutting system comprising: a cutting tool (e.g., 104) having a cannula (e.g., 106); a guide pin (e.g., 108) positioned in the cannula; a motor (e.g., 110) configured to rotate the cutting tool and the guide pin; one or more actuators (e.g., 112) configured to rotate and extend the guide pin and the cutting tool, and further configured to extend the guide pin beyond a tip (e.g., 126) of the cutting tool; a processor (e.g., 404); and a memory (e.g., 406) storing data for processing by the processor, the data, when processed, causing the processor to: position the cutting tool proximate a surface (e.g., 148) of an anatomical element (e.g., 146); cause the motor to rotate the guide pin and the cutting tool; while the motor is rotating the guide pin and the cutting tool, cause a first actuator (e.g., 112A) of the one or more actuators to extend the guide pin beyond the tip (e.g., 126) of the cutting tool to cause the guide pin to cut the anatomical element; and while the motor is rotating the guide pin and the cutting tool, cause a second actuator (e.g., 112B) of the one or more actuators to linearly extend the cutting tool toward an end (e.g., 144) of the guide pin to cut the anatomical element with the cutting tool.

Claims

1. A cutting system (100), comprising: A cutting tool (104) having a sleeve (106). Guide pin (108), the guide pin being positioned in the sleeve; A motor (110) configured to rotate the cutting tool and the guide pin; as well as One or more actuators (112) are configured to extend the guide pin and the cutting tool, and also to extend the guide pin beyond the end of the cutting tool.

2. The system of claim 1, further comprising: Processor (404); as well as Memory (406), which stores data for processing by the processor, wherein the data, when processed, causes the processor to perform the following operations: Position the cutting tool near the surface (148) of the anatomical element (146); The motor causes the guide pin and the cutting tool to rotate; While the motor rotates the guide pin and the cutting tool, the first actuator (112A) of the one or more actuators causes the guide pin to extend beyond the end (126) of the cutting tool, so that the guide pin cuts the anatomical element; as well as While the motor rotates the guide pin and the cutting tool, the cutting tool extends linearly toward the end (144) of the guide pin to cut the anatomical element with the cutting tool.

3. The system as described in claim 2, wherein, The memory stores additional data for the processor to process, and when this additional data is processed, the processor performs the following operations: While the motor rotates the guide pin and the cutting tool, the cutting tool and the guide pin extend linearly together into the anatomical element to cut the anatomical element with the cutting tool.

4. The system of claim 3, further comprising a robotic arm (416) configured to support, orient, and operate the automated cutting system.

5. The system as described in claim 4, wherein, The robotic arm positions the cutting tool near the surface of the anatomical element.

6. The system of claim 4, wherein, At least one of the robotic arm or the second actuator (112B) of the one or more actuators causes the cutting tool and the guide pin to extend linearly into the anatomical element.

7. The system as claimed in claim 2, wherein, The second actuator (112B) of the one or more actuators causes the cutting tool to extend linearly toward the end of the guide pin.

8. The system according to any one of claims 1 to 7, wherein, The one or more actuators include: a first actuator (112A) configured to extend the guide pin beyond the end of the cutting tool; a second actuator (112B) configured to extend the cutting tool linearly to the end of the guide pin; and a third actuator configured to move or extend the guide pin and the cutting tool linearly.

9. The system according to any one of claims 1 to 8, wherein, The guide pin includes a Kirschner wire, and the cutting tool includes a surgical drill.

10. The system of any one of claims 1 to 9, further comprising: A guide pin pusher (124) is configured to push the guide pin through the sleeve, wherein the guide pin is operated by one of the one or more actuators.

11. The system of any one of claims 1 to 10, further comprising: Housing (102) that houses at least a portion of the motor, the one or more actuators, and each of the cutting tool and the guide pin.

12. The system of any one of claims 1 to 11, further comprising: One or more sensors (426) are configured to measure at least one force applied to the anatomical element, wherein the memory stores additional data for processing by the processor, which, when processed, causes the processor to perform the following operations: When at least one measured force meets or exceeds a predetermined threshold, the one or more actuators and the motor are paused.

13. The system of claim 12, wherein, The memory stores additional data for the processor to process, and when this additional data is processed, the processor performs the following operations: A notification is generated when at least one of the measured forces meets or exceeds the predetermined threshold.

14. A cutting system, comprising: A cutting tool (104) having a sleeve (106). Guide pin (108), the guide pin being positioned in the sleeve; A motor (110) configured to rotate the cutting tool and the guide pin; One or more actuators (112) are configured to rotate and extend the guide pin and the cutting tool, and also to extend the guide pin beyond the end (126) of the cutting tool. Processor (404); and Memory (406), which stores data for processing by the processor, wherein the data, when processed, causes the processor to perform the following operations: Position the cutting tool near the surface (148) of the anatomical element (146); The motor causes the guide pin and the cutting tool to rotate; While the motor rotates the guide pin and the cutting tool, the first actuator (112A) of the one or more actuators causes the guide pin to extend beyond the end (126) of the cutting tool, so that the guide pin cuts the anatomical element; as well as While the motor rotates the guide pin and the cutting tool, a second actuator (112B) of the one or more actuators causes the cutting tool to extend linearly toward the end (144) of the guide pin to cut the anatomical element with the cutting tool.

Images