Surgical pin driver systems and methods

Abstract

The present teachings generally provide a surgical system including a surgical tool configured to guide and drive a fixation device along a trajectory into a target anatomical structure of a patient. The surgical tool can be configured to support the fixation device along one or more portions of the length of the fixation device in order to increase accuracy and reduce bending of the fixation device during a surgical procedure. The surgical tool can be configured to be tracked by a navigation system. The surgical instrument can be configured to be received by a surgical power tool or can include a handle for manual use.

Description

Cross-references

[0001] This application claims priority and all benefits to U.S. Provisional Patent Application No. 63 / 784,443, filed April 7, 2025, the entire contents of which are expressly incorporated herein by reference. Background Technology

[0002] Navigation systems are frequently used to assist medical professionals in performing various types of surgical procedures, including neurosurgery and orthopedic surgery. For this purpose, surgeons can utilize navigation systems to track, monitor, or otherwise locate one or more tools, surgical instruments, and / or portions of patient anatomy within a common frame of reference. Typically, tools and / or surgical instruments are tracked along with the anatomical structures, and their relative movement is depicted on a display screen.

[0003] Traditional navigation systems may employ optical signals, sound waves, magnetic fields, radio frequency signals, etc., to track the position and / or orientation of an object (such as a surgical instrument or surgical robot) relative to the patient and / or surgical site. Typically, the tracker is attached to or otherwise integrated into the object being tracked. The locator collaborates with tracking elements (e.g., reference points, markers, etc.) coupled to the tracker to monitor the tracker and ultimately determine the position and / or orientation of the object being tracked.

[0004] For certain surgical procedures, one or more types of imaging systems can be used to acquire patient-specific imaging data intraoperatively to help surgeons visualize, navigate relative to, and / or treat anatomical structures. To this end, the navigation system can collaborate with the imaging system and / or other parts of the surgical system (e.g., surgical tools, instruments, surgical robots, etc.) to track the object relative to a target site of the anatomical structure.

[0005] In certain surgical procedures, such as those performed using surgical instruments and / or surgical robots to manipulate biological tissues and / or place implants in a patient, trackers can be attached to the surgical instruments and / or surgical robots to track the posture of the surgical instruments or surgical robots relative to the target site of the anatomical structure.

[0006] During reverse shoulder arthroplasty (RSA) surgery, cases are evaluated using preoperative imaging or surface digitization as a routine diagnostic step to determine which type of implant is most suitable and to optimize implant placement to maximize the likelihood of positive patient outcomes. Planning software packages allow for further utilization of this data to visualize the implant-anatomical interface and plan intraoperative surgical approaches.

[0007] Typically, RSA procedures are performed using manual instruments that rely on a temporary pin driven into the glenoid cavity. All subsequent tools are placed on this temporary pin to attach the glenoid implant to its position and trajectory, making the initial positioning of the pin a critical step in the entire procedure. Summary of the Invention

[0008] This disclosure provides a surgical pin actuator system including a pin actuator and an adapter for mounting a tracker to the pin actuator for use with a surgical navigation system to track the attitude of surgical instruments and assist in alignment with a target trajectory.

[0009] One general aspect includes a surgical system for navigating surgical procedures. The surgical system also includes a surgical powered tool having a housing comprising a motor and a receiver disposed within the housing and operatively connected to the receiver, the receiver being configured to removably receive the tool. The system also includes a tool comprising: a body having a distal portion with a distal end and a proximal portion with a proximal end, the proximal portion of the body being configured to be selectively received by the receiver of the surgical powered tool; a lumen extending through the body by an inner wall forming a gap, the lumen extending between the distal and proximal ends of the body; and a retaining assembly configured to selectively retain a fixation device. The system also includes a navigation adapter. The system also includes a fixation device. Wherein, when the tool is inserted into the surgical powered tool, the proximal end of the tool is positioned within the receiver of the surgical powered tool, and the fixation device is held by the retaining assembly and positioned such that the proximal end of the fixation device is supported within the surgical powered tool by the tool.

[0010] The implementation may include one or more of the following features: a receiver of a surgical power tool is configured to transmit rotational movement from a motor to the tool, wherein the tool is configured to apply torque to a fixation device via a drive portion. The drive portion includes a keyed cross section and a retaining assembly. The retaining assembly may include a biasing element. The proximal end of the fixation device may include geometry substantially matching the keyed cross section of the drive portion. The drive portion is located within a proximal portion of the body. The inner diameter of the drive portion is sized and shaped to support a length of the proximal portion of the fixation device. The proximal portion of the tool includes an outer contour sized and shaped to be received within and supported by the surgical power tool, the outer contour of the proximal portion including a first outer diameter and a second outer diameter, the first outer diameter being configured to engage with the mandrel of the receiver of the surgical power tool, the second outer diameter being larger than the first outer diameter and configured to engage with a retainer of the receiver of the surgical power tool. The proximal outer contour of the system tool also includes a third outer diameter and a fourth outer diameter, the third outer diameter being larger than the second outer diameter and configured to receive a navigation adapter, and the fourth outer diameter being larger than the third outer diameter and configured for a position stop for the navigation adapter. The distal portion of the tool includes a first inner diameter and a second inner diameter extending distally to the tool, smaller than the first inner diameter, the second inner diameter providing limited radial compliance with the fixation device to support the proximal portion of the fixation device. The distal portion of the tool includes a handle section and a nose tube, the handle section having a handle outer diameter, and the nose tube having a tapered diameter decreasing in size from the handle outer diameter to the distal end of the tool. The tool body may include a first body corresponding to the proximal portion and a second body corresponding to the distal portion. The system may include a navigation adapter configured to support a navigation array coupled to the tool and a surgical power tool. The length of the fixation device is longer than the length of the tool. The fixation device may be a pin or a guidewire.

[0011] One general aspect includes a surgical tool configured to drive a fixation device within a patient's body. The surgical tool also includes a body having a distal portion and a proximal portion. The tool further includes an inner cavity defined by an inner wall forming a gap, passing through the body between a distal end of the distal portion and a proximal end of the proximal portion of the body, the inner wall being configured to support a length of fixation device within the inner cavity. The tool also includes a retaining assembly configured to selectively retain the fixation device. The tool further includes a sleeve disposed around a portion of the distal end of the body. The tool also includes an inner wall supporting the fixation device at both the proximal and distal ends of the tool, the inner cavity being configured to receive the proximal and distal portions of the fixation device such that the inner wall supports the proximal and distal portions of the fixation device.

[0012] The implementation may include one or more of the following features: The distal portion of the fixing device may be supported by the tool at least at the distal end of the fixing device. The distal portion of the fixing device is defined as the length between the midpoint of the fixing device and the distal end of the fixing device. The tool is configured to receive a navigation adapter capable of selectively positioning about the circumference of the tool body. The distal portion of the tool includes an inner diameter extending to the distal end of the tool, which provides limited radial compliance with the fixing device to support the proximal portion of the fixing device. The body includes a drive portion configured to rotate the fixing device together with the tool.

[0013] Other features and advantages of embodiments of the present disclosure will become readily apparent upon reading the following description in conjunction with the accompanying drawings, as these features and advantages become more readily understood. Attached Figure Description

[0014] Figure 1 This is a perspective view of the surgical system, which is shown as including a navigation system and an imaging system supporting the patient.

[0015] Figure 2 It is a perspective view of a surgical instrument that drives a pin into the scapula.

[0016] Figure 3 A guide pin driven into the scapula by a surgical instrument is shown.

[0017] Figure 4 This is a perspective view of surgical instruments consistent with the teachings of this article.

[0018] Figure 5 This is a cross-sectional view of surgical instruments and an example fixation device.

[0019] Figure 6 It is an exploded perspective view of the fixation device, surgical tool, and rotating adapter of a surgical instrument.

[0020] Figure 7 A distal view of a surgical instrument with retaining components is provided.

[0021] Figure 8 A side view of the retaining device within the assembly is shown.

[0022] Figure 9 A perspective view of the retaining components and fixing devices is shown.

[0023] Figure 10 and 11 This is a perspective view of the device tracker mounting components.

[0024] Figure 12 Surgical instruments and handheld devices are shown.

[0025] Figure 13 This is a perspective view of surgical instruments inserted into the handpiece.

[0026] Figure 14 For insertion Figure 13 A cross-sectional view of the surgical instruments in the power tool shown.

[0027] It should be understood that, for illustrative purposes, one or more embodiments depicted in the accompanying drawings may have certain parts, structural features and / or components removed, schematically depicted and / or shown in dashed lines. Detailed Implementation

[0028] This teaching generally provides a surgical system including surgical tools configured to guide and drive a fixation device along a trajectory into a patient's target anatomy. The surgical tools may be configured to support the fixation device along one or more portions of its length during the surgical procedure to increase accuracy and reduce bending of the fixation device. The surgical tools may be configured to be tracked by a navigation system. The surgical tools may be configured to be received by a surgical power tool, or may include handles for manual use.

[0029] Figure 1 This is a perspective view of a surgical system 100, which can be configured to assist a user 116 in visualizing the anatomy of a patient's shoulder and / or planning anticipated surgical procedures for a patient 112. The surgical system 100 may include surgical instruments 118, a display 120, an imaging system 130, a user input device 122, and a navigation system 114. The surgical system 100 may include a controller 110 configured to communicate with the imaging system 130, the display 120, the user input device 122, and / or the navigation system 114. For example, wired or wireless connections may exist between the controller 110, the imaging system 130, the navigation system 114, the user input device 122, and the display 120.

[0030] Controller 110 can be used to control one or more of the various components 130, 114, 122, 120 of surgical system 100. In some examples, the surgical system may include multiple controllers, each of which is connected to and communicates with surgical instruments 118, display 120, imaging system 130, user input device 122, and navigation system 114. Controller 110 may be a personal computer, laptop computer, tablet computer, other suitable computing device, or multiple suitable computing devices. In some embodiments, controller 110 may be integrated with display 120 or imaging system 130, or it may be implemented through multiple components of surgical planning system 100. Controller 110 may be configured to receive, send, or process data between display 120 and imaging system 130 or other computing devices. Furthermore, controller 110 may be configured to receive input from user input device 122 to run software, send data, receive data, or manipulate data displayed on display 120.

[0031] The controller 110 can generate a 3D model of a patient's shoulder anatomy from image data using segmentation algorithms such as deep learning models. The processor can be configured to use software to generate a two-dimensional and / or three-dimensional model from the image data, including at least a portion of the patient's shoulder anatomy. An imaging display can be configured to display the 3D model generated by the processor. The 3D model may also include indicators corresponding to the locations of anatomical structures, or virtual objects representing anatomical landmarks, or other modifications not specifically described herein.

[0032] Imaging system 130 may include imaging devices such as a CT scanner 134, an MRI scanner, an X-ray machine, or any other type of intraoperative and / or preoperative imaging device, as well as a display and a computer. While the illustrated imaging system 130 is implemented as an X-ray CT imaging device as described above, in other embodiments, imaging system 130 may include one or more of an X-ray fluorescence fluoroscopy imaging device, a magnetic resonance (MR) imaging device, a positron emission tomography (PET) imaging device, a single-photon emission computed tomography (SPECT) device, or an ultrasound imaging device. In some other examples, imaging system 130 may be a C-arm X-ray fluorescence fluoroscopy device. Other configurations are contemplated. For example, when the imaging device is a CT scanner 134, imaging system 130 may generate CT image data. In some embodiments, the imaging device may also be configured to obtain a 3D model of the anatomical structure being imaged (e.g., the anatomy of a patient's shoulder). Imaging system 130 may be configured to generate one or more types of imaging data or a combination of types of imaging data. The imaging system 130 can transmit image data acquired by the imaging device to the controller 110 for processing, display, or other manipulation by the controller 110.

[0033] The example imaging system 130 that can be used in various embodiments is AIRO manufactured by Mobius Imaging, LLC. ® Intraoperative CT system. Examples of x-ray CT imaging apparatuses that can be used according to various embodiments of this disclosure are described below: entitled " Pivoting Multi-directional X-ray Imaging System with a Pair of Diametrically Opposite Vertical Support Columns Tandemly Movable Along a Stationary Base Support U.S. Patent No. 10,151,810; entitled " Multi-directional X-ray Imaging System with Single Support Column U.S. Patent No. 9,962,132; entitled " Caster System for Mobile Apparatus US Patent No. 9,801,592; entitled " Method and System for X-ray CT Imaging U.S. Patent No. 9,111,379; entitled " Mobile Medical Imaging System and Methods U.S. Patent No. 8,118,488; and the title " Mobile X-ray Imaging System The disclosures of each of these patent applications, namely U.S. Patent Application Publication No. 2014 / 0275953, are incorporated herein by reference in their entirety.

[0034] In some examples, controller 110 may be configured to cause display 120 to display various graphical user interfaces (GUIs) 160. Rendering of patient image data (e.g., preoperative or intraoperative patient images) and / or a 3D model of the patient's shoulder anatomy may be included within the GUI 160. The display may be configured for user 116 to interact with elements included in the GUI 160, such as the rendering of the 3D model, via touch input to display 120, user input device 122, or other suitable means. Furthermore, controller 110 may be configured to cause display 120 to display representations of anatomical landmarks of the patient's shoulder anatomy, measurements corresponding to the patient's shoulder anatomy, and / or a reconstructed representation of the patient's shoulder anatomy. In some embodiments, GUI 160 may also function solely as a display, disallowing interaction from user 116. Controller 110 may be configured to cause display 120 to display surgical planning for medical procedures, or to provide options and results for various surgical planning purposes, or to display other features of the patient's shoulder anatomy. Other features of the patient's shoulder anatomy, those not specifically discussed herein, may also be displayed on display 120. GUI 160 may include one or more configurations, each of which may include additional views of image data, surgical instruments, implants, surgical planning, steps of the surgical procedure, or combinations thereof. GUI 160 may be configured to allow user 116 to manipulate information displayed on display 120.

[0035] In some embodiments, the user input device 122 is a keyboard and mouse, allowing the user 116 to manipulate objects displayed on the display 120 by providing input to the GUI 160 through clicking, dragging, scrolling, typing, or any combination of these actions. Additionally or alternatively, the display 120 may be a touchscreen, allowing the user 116 to manipulate the rendering of a 3D model displayed on the display 120 via touch input / gestures. In other examples, the user input device 122 may be a button, switch, foot pedal, etc. The display 120 may be a monitor, a laptop computer screen, or an AR display. For example, the display 120 may be headphones configured to be worn by the user 116. In some embodiments, the display 120 may be configured to be an extended reality device for performing any of the graphical functions described herein. The extended reality device may be implemented as a handheld device (e.g., a tablet or smartphone) or a head-mounted device. The extended reality device may be configured to overlay, superimpose, or combine any described computer-generated graphics with a real-world view to provide the user 116 with extended reality, augmented reality, and / or mixed reality experiences. The real-world view can be obtained directly by the user 116's eyes, or it can be a real-world video stream captured by one or more cameras of the extended reality device. When using a head-mounted device, the head-mounted device may include transparent lenses or one or more displays that are positioned directly in front of the user 116's eyes to display computer-generated graphics relative to the real-world view.

[0036] In some embodiments, navigation system 114 includes a locator 115. The locator 115 may be an optical locator and includes a camera unit with a housing that houses one or more optical sensors configured to sense movement of various trackers. For this purpose, any one or more trackers may include active markers (not shown in detail). Active markers may include light-emitting diodes (LEDs). Alternatively, trackers may have passive markers, such as reflectors that reflect light emitted from the camera unit or another predetermined light source. In other embodiments, locator 115 may be electromagnetic (EM) based. For example, the navigation system may include an EM transceiver coupled to a navigation controller. The locator 115 may also be radio frequency (RF) based. In this case, locator 115 may include an RF transceiver coupled to a navigation controller and / or a computing device. Here, the tracker may include an RF transmitter or transponder, which may be passive or actively activated. The RF transceiver transmits an RF tracking signal, and the RF transmitter responds with an RF signal to transmit the tracking status to (or be interpreted by) the navigation controller.

[0037] Surgical system 100 employs navigation system 114 to track the movement of various objects, such as surgical instruments 118 and portions of the anatomical structures of patient 112 (e.g., tissue at the surgical site ST). In some examples, navigation system 114 may track portions of imaging system 130. For this purpose, navigation system 114 includes a navigation controller coupled to locator 115, which is configured to sense the position and / or orientation of trackers 132, 136 within the locator coordinate system. As described in more detail below, trackers 132, 136 (also referred to herein as “navigable trackers”) are fixed, secured, or otherwise attached to a specific object and configured to be monitored by locator 115.

[0038] exist Figure 1 In this design, instrument trackers 132 are generally depicted and mounted to surgical instruments 118. Patient trackers 136 can be removably coupled to mounting assemblies to define tracker assemblies that facilitate selective movement of trackers 136 relative to their mounting assemblies. Here, the patient is securely attached to different portions of the anatomical structure of the patient 112 via anchors configured for releasable engagement of tissue (e.g., bone). It should be understood that patient trackers 136 can be securely attached to different types of tracked objects (e.g., discrete bones, tools, pointers, etc.) in a variety of different ways.

[0039] The surgical system 100 includes one or more surgical instruments 118. Figure 1 A surgical instrument 118 is shown as a surgical handheld device 170, shown herein as a powered handheld device having a surgical tool 200 (also referred to as an end effector), which will be described further below. Although the surgical instrument 118 is shown as a handheld device 170 with a surgical tool 200, it is contemplated that the surgical instrument may be other variations of a robotic end effector, a non-powered tool, and / or a surgical instrument with which the surgical tool 200 can be removably coupled.

[0040] For illustrative purposes, surgical instrument 118 is generally depicted and configured for handheld use, such as Figure 1 As shown. However, as will be understood from the following description, without departing from the scope of this disclosure, aspects of the surgical system 100 can be used with any suitable type of surgical instrument 118. Furthermore, aspects of the surgical system 100 may be employed that can be controlled, guided, positioned, or otherwise manipulated using one or more types of surgical robots. Certain types of surgical robots are disclosed below: entitled " Surgical Robotic arm Capable of Controlling a Surgical Instrument in Multiple Modes U.S. Patent No. 9,119,655; entitled " Systems and Tools for use with Surgical Robotic Manipulators U.S. Patent No. 10,456,207; entitled " End Effectors And Methods For Driving Tools Guided By Surgical Robotic Systems U.S. Patent Application Publication No. 2019 / 0231447; entitled " Integrated Medical Imaging and Surgical Robotic System U.S. Patent Application Publication No. 2016 / 0302871; entitled " Methods and Systems for Robot-Assisted Surgery U.S. Patent Application Publication No. 2020 / 0078097, entitled " Robotic Hand-held Surgical Instrument Systems and Methods The disclosures of each of these patent applications, namely U.S. Patent Application Publication No. 2022 / 0273396, are incorporated herein by reference in their entirety.

[0041] See Figure 2 and 3 Surgical tool 200 is configured to perform as part of a reverse shoulder arthroplasty procedure on the scapula 104. In some examples, surgical tool 200 may be used to attach fixation device 142 to the patient's bone during shoulder surgery or any other surgical procedure. In this example, fixation device 142 is a guide pin. The guide pin may be configured to guide one or more surgical instruments, such as a surgical reamer, during the procedure. In some examples, surgical tool 200 is actively tracked by instrument tracker 132 to help place fixation device 142 along a pre-planned trajectory.

[0042] See Figure 4-6 An exemplary configuration of surgical tool 200 is shown. Surgical tool 200 can be configured to be removably connected to handpiece 170 to facilitate surgical procedures. Surgical tool 200 can be configured to support fixation device 142 (shown here as a guide pin) and drive the fixation device to a target area within the patient's body, such as... Figure 2 and 3 As shown.

[0043] Go to Figure 4 The surgical tool 200 includes a body 204 with a contour having a proximal portion 206 with a proximal end 207 and a distal portion 208 with a distal end 209. The body 204 defines the contour of the surgical tool 200 and includes several features to assist the user during surgical procedures. The body 204 extends between the proximal end 207 and the distal end 209. In some examples, the surgical tool 200 may be a single, integral, or monolithic body. In other examples, the surgical tool 200 may include multiple components.

[0044] The proximal portion 206 of the body 204 may include several retaining features 210, 212, 214 for engagement with the instrument tracker 132 and the handheld component 170. The proximal portion 206 houses a retaining assembly 220 configured to receive and retain the fixation device 142, which will be further described below. The proximal portion 206 may include a drive feature for rotating the surgical tool 200 when engaged with the handheld component 170. In some examples, the proximal portion 206 may include a first diameter D1 of the body 204, a second diameter D2 of the body 204 larger than the first diameter D1, and a third diameter D3 of the body 204 larger than the second diameter D2. The fourth diameter D4 of the body 204 may be dimensioned to be larger than the third diameter D3 of the body 204. In some examples, the fourth diameter D4 may be configured as a stop 210, as further described below. The size, shape, and position of each segment of the body 204 are envisioned to be located at any part along the body 204 to facilitate attachment and connection with the instrument tracker 132, the handpiece 170, and / or other surgical components.

[0045] The body 204 of the surgical tool 200 may also include a retainer 214. The retainer 214 may include an annular groove in the proximal portion 206. For example, as... Figure 4-6 As shown, retainer 214 is achieved using a V-shaped groove defined in the proximal portion 206 of surgical tool 200. As will be further described below, retainer 214 can be configured to cooperate with coupling mechanism 180 of receiver 178 on handpiece 170 to removably secure surgical tool 200. Although retainer 214 is shown in the figures as a groove with a V-shaped profile, it is contemplated that the groove could be defined in an alternative shape that cooperates with coupling mechanism 180 of receiver 178 of handpiece 170. For example, retainer 214 could include a groove with a square profile defined in body 204, wherein the opposing surfaces of the groove are arranged to be generally parallel to each other.

[0046] The surgical tool 200 may include a stop 210 disposed between a proximal portion 206 and a distal portion 208. See also Figure 5 The stop 210 includes an annular body disposed on the body 204 of the surgical instrument 200. The stop 210 may be formed as part of the body 204 and configured as a protrusion surrounding and extending outward from an outer surface of the body 204. In some forms, the stop 210 may be configured as a separate component attached to the body 204 of the surgical instrument. For example, the stop 210 may include a support or washer coupled to the body 204. The stop 210 may be press-fitted to the body 204. Alternatively, the stop 210 may be coupled to the body 204 via welding, epoxy resin, or a similar adhesive. It should be understood that the stop 210 may be defined by various components and / or features. Other configurations are contemplated.

[0047] The stop 210 is positioned at a defined location between the proximal portion 206 and the distal portion 208 of the surgical instrument 200 and is configured to abut against the rotary adapter 184 of the instrument tracker 132. For example, the stop 210 may be positioned on the body 204 of the surgical instrument 200 at a known distance from the retainer 214. The distance between the stop 210 and the retainer 214 may be based on the length of the adapter 184. The known distance between the stop 210 and the retainer 214 may be selected such that the biasing element 196 is compressed by a known distance when the surgical instrument 200 is coupled to the handpiece 170, such as in the title "..." Rotational Tracker Adapter With Biasing Mechanism The description is in U.S. Patent Publication No. US2024 / 0225747, which is incorporated herein by reference.

[0048] The stop 210 can also be configured to position the adapter 184 of the instrument tracker 132 at a known distance from the distal portion 208 of the surgical instrument 200. Here, it should be understood that positioning the adapter 184 at a known distance from the distal portion 208 of the surgical instrument 200 allows the navigation system 114 to accurately and precisely determine the position and / or orientation of the distal portion 208 of the surgical instrument 200 relative to the patient's anatomy 104 and / or the target object.

[0049] The surgical tool 200 may also include a recess 212, as described above, configured to receive a portion of the adapter 184 of the instrument tracker 132 when attached to the surgical tool 200. The recess 212 on the proximal portion 206 of the surgical tool 200 may be configured to selectively retain the adapter 184 to the surgical tool 200. In some examples, the size and shape of the recess 212 may be defined in the outer surface of the proximal portion 206 of the surgical tool 200 to allow lateral movement of a portion of the adapter 184 relative to the recess 212, thereby allowing the adapter 184 to compress and cause the adapter 184 to abut against the stop 210.

[0050] Although the illustrated embodiment depicts the groove 212 completely surrounding the body 204 of the surgical tool 200, it is contemplated that the groove 212 may be configured as a groove or in a different shape that only partially surrounds the body 204.

[0051] Continue to refer to Figure 4-6The distal portion 208 of the body 204 may include a handle 216 rotatable about the body 204. The handle is configured to rotate freely about the body 204. When the surgical instrument 200 is rotated by the handpiece 170, the handle 216 can be used to allow a user to grasp and guide the surgical instrument 200. In some examples, the handle 216 may be made of the same material as the surgical instrument 200 (e.g., stainless steel). In other examples, the handle 216 may be made of a different material, such as plastic (e.g., PEEK). It is envisioned that the handle 216 may have any size and / or shape to facilitate its use as a gripping portion of the surgical instrument 200 during operation.

[0052] The body 204 may also include a nasal cone 230. The nasal cone 230 tapers toward a distal end 209, with its outer diameter decreasing until it reaches the distal end 209. The nasal cone 230 can be used to support and guide the fixation device 142 when the surgical tool 200 drives the fixation device 142 into the patient's anatomy 104. More specifically, the distal end 209 of the body 204 can support the distal portion 148 of the fixation device 142, and the proximal end 207 of the body 204 can support the proximal portion 144 of the fixation device 142.

[0053] Go to Figure 5 The diagram shows a cross-section of the surgical tool 200, revealing the internal contours of the body 204. The body 204 includes an inner wall 218 forming a cavity that defines an internal lumen sized and shaped to receive and support the fixation device 142. The inner wall 218 extends from a proximal end 207 to a distal end 209. The nasal cone 230 includes a first inner diameter ID1, slightly larger than the diameter of the fixation device 142 to allow minimal radial compliance. Additionally, the first inner diameter ID1 extends a length of the lumen defined by the inner wall 218, which is configured to support a portion of the distal region of the fixation device 142, preventing bending and deformation of the fixation device 142 upon insertion into a patient's anatomy. The inner wall 218 also defines a second inner diameter ID2 larger than the first inner diameter ID1. In some examples, the second inner diameter ID2 defined by the inner wall 218 may be configured to allow the fixation device 142 to freely pass through the lumen toward a third inner diameter ID3.

[0054] The proximal portion 206 of the main body 204 includes a retaining assembly 220 configured to removably receive and retain the fixation device 142 when it is loaded into the surgical instrument 200. The retaining assembly 220 (in...) Figure 7-9 (Optimal visibility) can be used to axially hold the fixation device 142 within the surgical instrument. For example... Figure 5As shown, the retaining component 220 can be press-fitted into the cavity defined by the inner wall 218. In this example, the outer diameter of the retaining component 220 can be substantially similar to and / or slightly larger than the second inner diameter ID2, such that the retaining component 220 can be press-fitted into the cavity defined by the inner wall 218. Other methods of connecting and securing the retaining component 220 are contemplated.

[0055] The retaining assembly 220 may have a third inner diameter ID3 configured to receive the proximal end of the fixation device 142. In some examples, the third inner diameter ID3 may be substantially similar to the first inner diameter ID1 of the distal portion 208. In another example, the third inner diameter ID3 may be smaller than the first inner diameter ID1 of the distal portion 208. The third inner diameter ID3 is sized and shaped to receive the proximal portion of the fixation device 142. In some examples, the retaining assembly 220 is sized and shaped to receive and support the proximal portion 144 of the fixation device 142. The retaining assembly 220 is configured to provide support for the proximal portion 144 of the fixation device 142 when torque is applied from the surgical tool 200 to the fixation device 142. When the fixation device 142 is driven into the target anatomical structure, the inner wall 218 of the surgical tool 200 supports the outer diameter of the fixation device 142 and reduces the chance of bending of the fixation device 142, thereby significantly improving the accuracy of guidewire placement.

[0056] Figure 6 An exploded view of a surgical tool 200 including an instrument tracker 132 and a fixation device 142 is shown. In this example, the proximal portion 144 of the fixation device 142 may be loaded into the distal end 209 of the body 204 of the surgical tool 200 until the proximal portion of the fixation device 142 is received by a retaining assembly 220 at the proximal portion 206 of the surgical tool 200. Furthermore, the distal end of the instrument tracker 132 slides on the proximal portion 206 of the surgical tool 200 until the instrument tracker 132 is stopped by a stop 210, and a coupler 197 is received in a groove 212 to hold the tracker in a defined axial position.

[0057] Figure 7-9 The image shows the proximal portion 206 of the body 204, including the retaining component 220, when the fixation device 142 is placed through the cavity defined by the inner wall 218 and held within the surgical instrument 200. Figure 7An end view of the proximal portion 144 of the fixation device 142 and the retaining assembly 220 in the body 204 is shown. In this example, the fixation device 142 includes a triangular profile at the proximal portion 144. Similarly, the retaining base 222 of the retaining assembly 220 includes a through-hole having a triangular cross-section configured to receive the triangular profile of the proximal portion 144 of the fixation device 142. Although a triangular example is shown, any suitable shape is contemplated to form a keyed or key-fitted engagement to transfer rotational force from the surgical tool 200 to the fixation device 142.

[0058] Turning Figure 8 and Figure 9 The image shows the proximal portion 206 of a surgical tool 200 and the proximal portion 144 of a fixation device 142. In this example, the fixation device 142 is inserted into a cavity defined by an inner wall 218 and received by a retaining assembly 220. The retaining assembly 220 axially secures the fixation device 142 to a retaining base 222 using a clamp 224. The clamp 224 is configured to removably secure the fixation device 142 to the surgical tool 200 so that a user can actuate the fixation device 142 in a target anatomical structure, and is configured to remove the surgical tool 200 by applying a force opposite to the target anatomical structure, allowing the surgical tool 200 to release the fixation device 142. In this example, the fixation device 142 includes threads 146 distal to the proximal portion 144 of the triangle.

[0059] Tracker and tracker mounting As described above, during the surgical procedure, an instrument tracker 132, including a marker 152 (also referred to herein as a tracking element), can be coupled to the surgical instrument 200 to allow the navigation system 114 to determine the position and / or orientation of the surgical instrument 200. See also Figure 10 and Figure 11An exemplary configuration for coupling an instrument tracker 132 to a surgical tool 200 is shown. The adapter 184 generally includes a base 186 having a distal end 188 and an opposite proximal end 190. The base 186 may also define an aperture 192 extending through the adapter 184 and configured to receive a portion of the surgical tool 200. For example, the surgical tool 200 includes a body 204 extending between a distal portion 208 for manipulating tissue and a proximal portion 206 defining a retainer 214 for removably attaching the surgical tool 200 to a surgical handpiece 170. The surgical tool 200 also includes a stop 210 disposed between the proximal portion 206 and the distal portion 208 of the body 204. The aperture in the base 186 of the adapter 184 is defined in the body 204 to receive the proximal portion 206 of the surgical tool 200. The adapter 184 may also include a mounting member 194 coupled to the base for releasably securing the tracker to the adapter. A biasing element 196 disposed on the base 186 of the adapter 184 includes an abutment interface 198 for engaging the surgical handpiece 170 and is configured to push the base 186 away from the surgical handpiece 170. In response to the retainer 214 being attached to the surgical handpiece 170, the biasing element 196 is compressed, creating an abutment between the base 186 and a stop 210 of the surgical tool 200 to limit movement of the adapter 184 relative to the surgical tool 200.

[0060] Adapter 184 may also include a mounting member 194 extending from base 186. Mounting member 194 may include a coupler, such as a quick-connect adapter, configured to removably couple instrument tracker 132 to adapter 184. In some forms, the coupler may include a threaded, quarter-turn swivel connection, snap-fit, or similar connector for removably coupling instrument tracker 132 to adapter 184. Although not described in detail herein, in some embodiments, mounting member 194, or another portion of adapter 184, may include or otherwise be implemented as compatible with the device tracker 132 in the document entitled "..." Surgery System The coupler is similar to the one described in U.S. Patent No. 7,725,162, the disclosure of which is incorporated herein by reference in its entirety. Other configurations are contemplated.

[0061] Connection tools and handheld devices Go to Appendix Figure 12-14 The surgical tool 200 is configured to be attached to and received by the surgical handpiece 170. Figure 12 A side view is shown of a surgical instrument 200 being prepared for insertion into a handpiece 170.

[0062] like Figure 13As best shown, when the instrument tracker 132 engages with the surgical tool 200 and the surgical tool 200 is inserted into the handpiece 170, the instrument tracker 132 engages both the surgical tool 200 and the handpiece 170. When the proximal portion 206 of the surgical tool 200 enters the receiver 178, the retainer 214 of the surgical tool 200 engages the coupling mechanism 180 of the receiver 178, thereby securing the retainer 214 at the retaining feature 182. Regarding the instrument tracker 132 on the surgical tool 200, when the proximal portion 206 of the surgical tool 200 is inserted into the receiver 178, the abutment interface 198 defined by the biasing element 196 of the instrument tracker 132 engages the front surface of the receiver 178, the biasing element 196 pushes the adapter 184 away from the receiver 178 and causes the adapter 184 to abut against the stop portion 210 of the surgical tool 200. Once the adapter 184 abuts against the stop 210, the biasing element 196 is compressed as the proximal portion 206 of the surgical tool 200 is further inserted into the receiver 178 until the coupling mechanism 180 engages the retainer 214, thereby securing the surgical tool 200 to the surgical handpiece 170. The stop of the coupler 197 on the adapter 184 is disposed in a recess 212 defined in the body 204 of the surgical tool 200 to secure or fix the adapter 184 to the surgical tool 200. Before the surgical tool 200 is attached to the surgical handpiece 170, the surgical tool 200 and the adapter 184 are configured such that the adapter 184 can rotate freely about the body 204.

[0063] When the proximal portion 206 of the surgical instrument 200 is inserted into the receiver 178, the proximal portion 206 engages the coupling mechanism 180 of the receiver 178. (As in...) Figure 14 As best viewed, the proximal end 207 of the proximal portion is inserted into the spindle bore 181 until the proximal end 207 abuts against the drive assembly. The drive assembly may include a motor 172 communicating with a drive shaft 183. The drive shaft 183 may be connected to the motor to provide rotational power to the drive shaft 183 and the spindle bore 181, which is configured to rotate the surgical instrument 200. Examples of these types of receivers 178 and handpieces 170 are described in the title " Surgical Handpiece with Compact Clutch The description is found in U.S. Patent No. 9,192,394, the disclosure of which is incorporated herein by reference in its entirety.

[0064] The proximal portion 206 of the surgical instrument 200 is inserted into the spindle hole 181 of the receiver 178, such that the spindle hole 181 receives and supports the proximal portion 206 of the surgical instrument 200, and subsequently receives and supports the proximal portion of the fixation device 142. The support provided by the spindle hole 181 and the receiver 178 prevents the fixation device 142 from bending during placement and facilitates precise navigation of the fixation device 142 to the planned placement (position).

[0065] Those skilled in the art will understand that aspects of the embodiments described and illustrated herein may be interchanged or otherwise combined.

[0066] It should also be understood that the term "comprising" has the same meaning as the term "including". Furthermore, it should be understood that, for the purpose of clarity and consistency, and for non-restrictive descriptive purposes, terms such as "first", "second", and "third" are used herein to distinguish certain structural features and components.

[0067] Several configurations have been discussed in the preceding description. However, the configurations discussed herein are not intended to be exhaustive or to limit the invention to any particular form. The terminology used is intended to be descriptive rather than restrictive. Based on the foregoing teachings, many modifications and variations are possible, and the invention can be practiced in ways other than those specifically described.

Claims

1. A surgical system for navigation surgery, comprising: A surgical power tool includes a housing that includes a motor and a receiver, the motor being disposed within the housing and operatively connected to the receiver, the receiver being configured to removably receive the tool. Tools, including: The body has a distal portion with a distal end and a proximal portion with a proximal end, the proximal portion of the body being configured to be selectively received by the receiver of the surgical power tool; An inner cavity, which extends through the body and is defined by an inner wall forming a void, and extends between the distal and proximal ends of the body; and A retaining component configured to selectively retain the fixing device; and Navigation adapter; Fixture; The proximal end of the tool is positioned within the receiver of the surgical power tool; The fixation device is held by the retaining assembly in a position that positions the proximal portion of the fixation device within the surgical power tool.

2. The system of claim 1, wherein the receiver of the surgical power tool is configured to transmit rotational movement from the motor to the tool, wherein the tool is configured to apply torque to the fixation device via a drive portion.

3. The system of claim 2, wherein the driving portion includes a keyed cross section and a holding assembly, the holding assembly including a biasing element; The proximal portion of the fixing device includes a geometry that substantially matches the keyed cross-section of the drive portion.

4. The system of claim 2, wherein the drive portion is located within the proximal portion of the cavity.

5. The system of claim 4, wherein the inner diameter and shape of the drive portion are designed to support a portion of the proximal part of the fixing device.

6. The system of claim 5, wherein the proximal portion of the tool includes an outer contour, the outer contour being sized and shaped to be received within and supported by the surgical power tool, the outer contour of the proximal portion including a first outer diameter and a second outer diameter greater than the first outer diameter, the first outer diameter being configured to engage with the mandrel of the receiver of the surgical power tool, and the second outer diameter being configured to engage with the retainer of the surgical power tool.

7. The system of claim 6, wherein the outer contour of the proximal end of the tool further includes a third outer diameter and a fourth outer diameter, the third outer diameter being larger than the second outer diameter and configured to receive the navigation adapter, and the fourth outer diameter being larger than the third outer diameter and configured as a position stop for the navigation adapter.

8. The system according to any one of claims 1 to 7, wherein the distal portion of the tool includes a handle section and a nose tube, the handle section having a handle outer diameter, and the nose tube having a tapered diameter whose dimensions decrease from the handle outer diameter to the distal end of the tool.

9. The system according to any one of claims 1 to 7, wherein the distal portion of the tool includes a first inner diameter extending through the distal portion of the tool to the distal end of the tool, thereby providing limited radial compliance with the fixing device to support the proximal portion of the fixing device.

10. The system of claim 9, wherein the body of the tool includes a second inner diameter extending from the proximal portion to the distal portion, and the second inner diameter is larger than the first inner diameter.

11. The system according to any one of claims 1 to 7, wherein the body of the tool comprises a first body corresponding to the proximal portion and a second body corresponding to the distal portion.

12. The system according to any one of claims 1 to 7, further comprising a navigation adapter configured to support a navigation array, the navigation adapter being coupled to the tool and the surgical power tool.

13. The system according to any one of claims 1 to 7, wherein the length of the fixing device is longer than that of the tool.

14. The system according to any one of claims 1 to 7, wherein the fixing device is a guide wire.

15. A surgical tool configured to drive a fixation device within a patient's body, the tool comprising: The main body has a distal portion and a proximal portion; An inner cavity, which extends through the body and is defined by an inner wall, the inner wall forming a gap between the distal end of the distal portion of the body and the proximal end of the proximal portion, the inner wall being configured to support a length of the fixing device within the inner cavity; A retaining component configured to selectively retain the fixing device; A sleeve disposed around a portion of the distal end of the body; and The inner wall supports the fixation device at the proximal and distal ends of the tool, and the cavity is configured to receive the proximal and distal portions of the fixation device such that the inner wall supports the proximal and distal portions of the fixation device.

16. The surgical tool of claim 15, wherein the distal portion of the fixation device is supported by the tool at least at the distal portion of the fixation device.

17. The surgical tool of claim 15, wherein the inner wall supports at least a portion of the distal portion of the fixation device such that the distal portion of the fixation device extends through the distal end of the body, and a portion of the distal portion of the fixation device is supported by the inner wall within the body of the distal portion of the tool.

18. The surgical tool according to any one of claims 15 to 17, wherein the tool is configured to receive a navigation adapter capable of selectively positioning around the circumference of the body of the tool.

19. The surgical tool according to any one of claims 15 to 17, wherein the distal portion of the tool includes an inner diameter extending to the distal end of the tool, the inner diameter providing limited radial compliance with the fixation device to support the proximal portion of the fixation device.

20. The surgical tool according to any one of claims 15 to 17, wherein the body includes a drive portion configured to rotate the fixation device together with the tool.

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