Linear electric surgical hammer impact tool

Abstract

To provide a linear electric surgical hammer impact tool.SOLUTION: There are disclosed linear electric surgical hammer impact tools and methods of use thereof. The linear electric surgical hammer impact tools can include a housing, a slider, a shuttle, and a motor. The housing can define a cavity extending along a longitudinal axis of the housing. The shuttle can be located inside the cavity and arranged along the longitudinal axis of the housing. The shuttle can include a first set of collars and a second set of collars. The motor can be configured to drive the slider along the longitudinal axis in a first direction and a second direction. Motion of the slider in the first and second directions can cause the slider to contact the first and second sets of collars.SELECTED DRAWING: Figure 9B

Description

[Technical field]

[0001] Priority claim This application claims priority to U.S. Provisional Patent Application No. 63 / 140,071, entitled “LINEAR ELECTRIC HAMMER IMPACT TOOL,” filed January 21, 2021, the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates generally to surgical instruments and their uses. More specifically, the present disclosure relates to powered surgical impact tools and methods of using same. [Background technology]

[0003] Orthopaedic surgeons commonly use tools for cutting or sculpting bone that require a hammer or mallet to transmit an impact force to the tool. One example is a broaching tool for preparing the proximal end of a femur to receive the stem of a hip implant. Such broaches can be used with a physician-operated hammer or a pneumatic "jack hammer"-like tool. However, hammering the broaching tool can be tedious and can cause significant stress on the surgeon's own joints, such as the shoulder joint. Additionally, pneumatic impact tools require connection to an air hose, which can be inconvenient and can limit the surgeon's ability to orient the tool in a desired manner. Summary of the Invention

[0004] The following non-limiting examples detail certain aspects of the subject matter that, among other things, solve the problems and provide the advantages discussed herein.

[0005] Example 1 is a linear powered surgical hammer impact tool including: a housing defining a cavity extending along a longitudinal axis; a slider positioned within the cavity and disposed along the longitudinal axis of the housing; a shuttle positioned within the cavity and disposed along the longitudinal axis of the housing and including a first collar set and a second collar set; a motor configured to drive the slider in a first direction and a second direction along the longitudinal axis; and a tool holder coupled to the shuttle; wherein movement of the slider in the first direction brings the slider into contact with the first collar set and movement of the slider in the second direction brings the slider into contact with the second collar set.

[0006] In Example 2, the subject matter described in Example 1 optionally includes, wherein the slider includes a slider flange that contacts the first and second collar sets during movement of the slider.

[0007] In Example 3, the subject matter of any one or more of Examples 1-2 optionally includes, wherein the motor is a tubular motor and the slider shaft passes at least partially through the tubular motor.

[0008] In Example 4, the subject matter of any one or more of Examples 1-3 optionally includes the shuttle including: a shuttle flange; a first rod extending from the shuttle flange, the first rod having a first collar from the first and second collar sets attached thereto; and a second rod extending from the shuttle flange, the second rod having a second collar from the first and second collar sets attached thereto.

[0009] In Example 5, the subject matter of any one or more of Examples 1-4 optionally includes, wherein the shuttle includes a biasing element configured to bias the shuttle in the first direction.

[0010] In Example 6, the subject matter of any one or more of Examples 1-5 optionally includes a sensor disposed to detect a position of the slider within the cavity.

[0011] In Example 7, the subject matter described in any one or more of Examples 1-6 optionally includes a controller operable to perform operations including: determining an estimate of bone quality; and increasing or decreasing an impact force generated by the linear powered surgical hammer impact tool based on the estimate of bone quality.

[0012] In Example 8, the subject matter described in any one or more of Examples 1-7 optionally includes a controller operable to perform operations including: determining a displacement of a tool mounted to the tool holder; and increasing or decreasing an impact force generated by the linear powered surgical hammer impact tool based on the displacement of the tool.

[0013] In example 9, the subject matter of any one or more of examples 1-8 optionally includes a handle defining a cavity sized to accommodate the electronics and motor.

[0014] In Example 10, the subject matter described in Example 9 optionally includes that the handle includes: a first trigger operable to move the slider in a first direction; and a second trigger operable to move the slider in a second direction.

[0015] Example 11 is a linear powered surgical hammer impact tool comprising: a housing defining a cavity extending along a housing longitudinal direction; a slider including a slider shaft positioned within the cavity and disposed along a longitudinal axis of the housing; and a shuttle positioned within the cavity and disposed along the longitudinal axis of the housing, the shuttle flange including a first rod extending from the shuttle flange and having a first collar and a second collar attached thereto, and a second rod extending from the shuttle flange and having a third collar and a fourth collar attached thereto, the first collar, the second collar, a shuttle including a second rod, the third collar, and a fourth collar defining a stroke of the slider; a tube motor defining a through hole sized to accommodate the slider shaft and configured to drive the slider along the longitudinal axis in a first direction and a second direction; and a tool holder coupled to the shuttle; wherein movement of the slider in the first direction brings the slider into contact with the first collar and the third collar, and movement of the slider in the second direction brings the slider into contact with the second collar and the fourth collar.

[0016] In Example 12, the subject matter described in Example 11 optionally includes, wherein the shuttle includes a biasing element configured to bias the shuttle in the first direction.

[0017] In Example 13, the subject matter of any one or more of Examples 11-12 optionally includes a sensor disposed to detect a position of the slider within the housing.

[0018] In Example 14, the subject matter described in any one or more of Examples 11-13 optionally includes a controller operable to perform operations including: determining an estimate of bone quality; and increasing or decreasing an impact force generated by the linear powered surgical hammer impact tool based on the estimate of bone quality.

[0019] In Example 15, the subject matter described in any one or more of Examples 11-14 optionally includes a controller operable to perform operations including: determining a displacement of a tool mounted to the tool holder; and increasing or decreasing an impact force generated by the linear powered surgical hammer impact tool based on the displacement of the tool.

[0020] In Example 16, the subject matter described in any one or more of Examples 11 to 15 optionally includes: a handle defining a cavity sized to accommodate the electronics and motor; a first trigger operable to move the slider in a first direction; and a second trigger operable to move the slider in a second direction.

[0021] Example 17 is a linear powered surgical hammer impact tool that includes a processor; and memory storing instructions that, when executed by the processor, cause the processor to perform operations including receiving an estimate of bone quality, receiving feedback during a surgical procedure, determining an updated estimate of bone quality, and increasing or decreasing an impact force generated by the linear powered surgical hammer impact tool based on the updated estimate of bone quality.

[0022] In Example 18, the subject matter described in Example 17 optionally includes, wherein the operation of determining an updated estimate of bone quality includes an operation of determining a displacement of a tool attached to a tool holder of a linear powered surgical hammer impact tool.

[0023] In Example 19, the subject matter described in any one or more of Examples 17-18 optionally includes, where the act of receiving an estimate of bone quality includes an act of receiving patient data related to the bone to be rasp.

[0024] In Example 20, the subject matter described in any one or more of Examples 17-19 optionally includes a Hall effect sensor, and the operation further includes determining a position of a slider positioned within the housing of the linear electric surgical hammer impact tool based on a signal received from the Hall effect sensor.

[0025] In Example 21, the surgical impacting tools, systems and / or methods described in any one of Examples 1-20 or any combination thereof may be optionally configured such that all of the listed elements or options are usable or selectable.

[0026] In the drawings, which are not necessarily drawn to scale, like numerals may represent similar components in different figures. Like numerals with different subscripts may represent different instances of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document. [Brief description of the drawings]

[0027] [Figure 1] FIG. 1 illustrates an isometric view of a linear powered surgical hammer impact tool in accordance with at least one embodiment of the present disclosure. [Diagram 2] FIG. 2 illustrates a side cross-sectional view of a linear powered surgical hammer impact tool consistent with at least one embodiment of the present disclosure. [Diagram 3] FIG. 3 illustrates a side cross-sectional cutaway view of a linear powered surgical hammer impact tool consistent with at least one embodiment of the present disclosure. [Figure 4A] FIG. 4A illustrates a detailed cross-sectional side view of a linear powered surgical hammer impact tool in accordance with at least one embodiment of the present disclosure. [Figure 4B] FIG. 4B illustrates a detailed cross-sectional side view of a linear powered surgical hammer impact tool consistent with at least one embodiment of the present disclosure. [Figure 4C] FIG. 4C illustrates a detailed cross-sectional side view of a linear powered surgical hammer impact tool consistent with at least one embodiment of the present disclosure. [Figure 4D] FIG. 4D illustrates a detailed cross-sectional side view of a linear powered surgical hammer impact tool consistent with at least one embodiment of the present disclosure. [Diagram 5] FIG. 5 illustrates a detailed cross-sectional side view of a linear powered surgical hammer impact tool consistent with at least one embodiment of the present disclosure. [Figure 6A] FIG. 6A illustrates a partial cross-sectional view of a handle and housing assembly of a linear powered surgical hammer impact tool according to at least one embodiment of the present disclosure. [Figure 6B] FIG. 6B illustrates a detailed partial cross-sectional view of the handle and housing assembly of FIG. 6A in accordance with at least one embodiment of the present disclosure. [Figure 7] FIG. 7 illustrates a cross-sectional view of a linear powered surgical hammer impact tool in accordance with at least one embodiment of the present disclosure. [Figure 8A] FIG. 8A illustrates a tube motor for use in a linear powered surgical hammer impact tool in accordance with at least one embodiment of the present disclosure. [Figure 8B] FIG. 8B illustrates a cross-sectional view of a linear powered surgical hammer impact tool consistent with at least one embodiment of the present disclosure. [Figure 8C] FIG. 8C illustrates a detailed cross-sectional view of a proximal region of a linear powered surgical hammer impact tool consistent with at least one embodiment of the present disclosure. [Figure 9A] FIG. 9A illustrates a linear powered surgical hammer impact tool in accordance with at least one embodiment of the present disclosure. [Figure 9B] FIG. 9B illustrates a linear powered surgical hammer impact tool in accordance with at least one embodiment of the present disclosure. [Figure 10A] FIG. 10A illustrates a bone quality assessment option consistent with at least one embodiment of the present disclosure. [Figure 10B] FIG. 10B illustrates a bone quality assessment option consistent with at least one embodiment of the present disclosure. [Figure 10C] FIG. 10C illustrates a bone quality assessment option consistent with at least one embodiment of the present disclosure. [Figure 11]FIG. 11 illustrates a flow diagram of logic that can be used to control a linear powered surgical hammer impact tool consistent with at least one embodiment of the present disclosure. [Figure 12] FIG. 12 illustrates a schematic diagram of a controller consistent with at least one embodiment of the present disclosure.

[0028] Corresponding reference characters indicate corresponding parts throughout the several views. The illustrations set forth herein illustrate exemplary embodiments of the present disclosure, and such illustrations should not be construed as limiting the scope of the present disclosure in any way. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] As an alternative to pneumatic piston driven systems, disclosed herein are electrically driven systems. Specifically, the linear powered surgical hammer impact tool disclosed herein can include an impact element, sometimes referred to as a slider, that can impact a shuttle, tool holding element, etc. to generate an impact force.

[0030] The electric motor can be configured to drive the impact element to create an impact force. For example, movement of the slider in a first direction can bring the slider into contact with a first collar set, and movement of the slider in a second direction can bring the slider into contact with a second collar set. Contact between the collar and the slider can generate an impact force to drive the rasp and / or broach into and out of the bone canal.

[0031] As disclosed herein, one or more sensors, such as Hall effect sensors, can be used to determine the position of an impact element within the linear powered surgical hammer impact tool. Based on this position, the impact force generated can be determined. Similarly, the controller can be operable to determine an estimate of bone quality and increase or decrease the impact force generated by the linear powered surgical hammer impact tool based on the estimated amount of bone quality.

[0032] The above discussion is intended to provide an overview of the subject matter of this patent application. It is not intended to provide an exclusive or exhaustive description of the invention. The following description is included to provide further information about this patent application.

[0033] Turning now to the figures, FIG. 1 illustrates an example of a linear powered surgical hammer impact tool 100 consistent with at least one embodiment of the present disclosure. As disclosed herein, the linear powered surgical hammer impact tool 100 can provide a simple, efficient, and robust battery-powered handheld linear powered surgical hammer impact tool for use in surgical procedures. The linear powered surgical hammer impact tool 100 can include a distal end cap 102 and a proximal end cap 104 at opposite ends of a tool body 106. As shown in FIG. 2, a tool retaining element 202 with a tool holder 108 extends from the proximal end of the tool body 106. With continued reference to FIG. 1, a handle 110 is secured to the tool body 106 and has a grip portion 112 that houses therein a controller 206, sometimes referred to as control electronics, that is controlled by a battery pack 204 and a trigger 114. Alternatively or additionally, a speaker / microphone 116 can be used to enable voice control and response.

[0034] 2, 3, 4A, 4B, 4C, 4D and 5 show the internal details of the linear powered surgical hammer impact tool 100 in which the tool body 106 houses a tubular electromagnetic linear motor with a coil structure 208 secured therein. The coil structure 208 actuates a magnetic or ferromagnetic mechanical impact motion element 210. The impact motion element 210 may be supported by low friction bearings 502A and 502B (collectively, bearings 502 shown in FIG. 5) on a centrally located rod-like tool holder element 202 which is supported by low friction bearings 212A and 212B (collectively, bearings 212 shown in FIG. 2) in the proximal and distal end caps 104 and 102, respectively, located at the ends of the tool body 106. These bearings 212 and 502 can be simple single bushing type bearings made of a material such as Rulon that has a low coefficient of friction against the polished stainless steel of the shaft 214, and the radial load is very low and essentially radial parasitic magnetic force from the motor, so that the energy loss due to friction is less than a few percent of the energy delivered to the impact surface. However, if longer life, fewer particles, and lower friction are desired, and the high speeds of several meters per second mean that self-acting aerodynamic bearing features can be formed within the inner diameter of the bearing that act in either direction of motion. Furthermore, since users may exert large radial loads on the tool and therefore the tool holder when working with certain types of patients, the bearing 212A can be a rolling element type, such as a rolling bearing cage bushing (i.e., die set bushing) bearing or a recirculating ball bushing, or a diaphragm flexure type bearing as discussed below in connection with Figures 4B, 4C, and 4D.

[0035] The coil structure 208 may house sensing elements 216 for determining the position of the impacting motion element 210. The sensed position may be used by the controller 206 located in the region 218 to control the current from the battery pack 204 to the coil structure 208 to control the position, speed and acceleration of the impacting motion element 210. Thus, the impacting motion element 210 may be controlled to deliver a desired impact energy to the flange 220 of the tool holder element 202 at a desired cycle time. Thus, the impacting motion element 210 may enable the force on the tool holder element 202 and the tool held by the tool holder 108 to perform useful work such as bone cutting, where the mass of the impacting motion element 210 on the lower end may be approximately one-quarter the mass of the tool holder element 202 and attached tooling (e.g., chuck, tool adapter, tool holder 108, etc.), and up to approximately two to four times the mass of the tool holder element 202 and attached tooling.

[0036] 2 shows a side cross-sectional view of the linear powered surgical hammer impact tool 100 in a ready-to-activate position in which the coil structure 208 has moved the impacting motion element 210 until it is nearly abutting the rear impact flange 222, sometimes referred to as the distal flange, which is used to retract the tool. Here, the rear impact flange 222 is of the bolt-on collar type to allow for assembly of the system, but it would also be possible for it to be shrink fitted once the impacting motion element 210 is installed on the shaft 214. A user can push a tool (not shown), for example a broach attached to the tool holder 108, forward into the object to be cut, which pushes the tool holder element 202 rearwardly into the tool body 106. The flange 220 of the tool holder element 202 is then positioned in the proper impact position, the position of which is sensed by sensor 224A. The position of the rear impact flange 222 is sensed by sensor 224B. Sensor 224A and sensor 224B are collectively referred to as sensor 224.

[0037] The position of the impacting motion element 210 can also be sensed using a sensing element 216, for example a magnetic sensor in the coil structure 208. Based on the energy to be delivered, the controller 206 can command a current (and voltage) to the coil structure 208 to accelerate the impacting motion element 210 forward to reach a required velocity within the sensed space in order to deliver an impact of the desired energy. Figure 3 shows a side cross-sectional cutaway view of the linear electric surgical hammer impact tool 100 at the moment of impact between the impacting motion element 210 and the flange 220.

[0038] Simplicity of design can be achieved by minimizing the number of parts and moving interfaces. As disclosed herein, concentric elements can minimize wear and energy loss of the moving elements. The tool holder elements 202 can be placed in linear bearings 212, which can be plain bearings, rolling element bearings, or flexure bearings, at the proximal and distal ends, respectively. Rulon, a PTFE-based bearing, is one exemplary sliding contact bearing material because it is steam sterilizable and has very low friction without additional lubrication. Although each bearing 212 can be press-fit into its corresponding end cap 102 and 104, snap rings 226 (individually labeled snap rings 226A, 226B, and 226C) are shown here to provide additional reliability in holding the bearings 212 in place in this impact device. Additionally, the lip seal 228 can be held in place by a snap ring 230. Alternatively, the lip seal 228 and snap ring 230 can be replaced with a simple O-ring or quad ring in the groove in which the lip seal 228 resides. The lip seal 228 may have lower friction, but cleaning may be more complicated. Still consistent with the embodiments disclosed herein, a bellows seal may be used, which may allow for virtually unconstrained axial motion, or a metal bellows may provide a slight spring bias while still providing an airtight seal. Advantageously for sterilization purposes, the bellows may allow gas inside the tool to expand, deflecting the bellows to push the tool holder element 202 out as needed. The distal end bearing and mating shaft segment may be hexagonal to prevent rotation of the tool holder element 202, and the hex bearing in the enclosed distal end of the tool does not need to be sealed.

[0039] Figure 4B shows where the proximal bearing 212A may be replaced with a diaphragm flexure bearing 402 that may provide a diaphragm seal at the proximal end as well as internal expansion of gas. Other elements may remain the same as described in connection with Figures 4A, 4C and 4D. The diaphragm flexure bearing 402 may be made of, for example, electroformed nickel alloy, and may thus also provide a nominal spring return force to the tool holder element 202 to keep it centered. The distal bearing 212B may remain as a plain bearing or it may be made of a similar flexure bearing as well.

[0040] The impact flanges 220 and 222 can be centered on the coil structure 208, the position of which can be sensed by a sensor 224, thus controlling the proper motion profile of the impact motion element 210 to impact the tool holder element 202 and drive or retract the tool. As shown, the tool holder 108 can fit over the forward cylindrical portion 404 of the diaphragm flexure bearing 402. This can be a shrink fit or it can be secured with an adhesive such as Loctite. The flexure element 406 can be an actual flexure diaphragm that can also provide radial stiffness to support the shaft 214 of the tool holder element 202. The conical portion 408 of the diaphragm flexure bearing 402 can fit over the forward tapered portion 410 of the proximal end cap 104 and act to center the shaft 214 in relation to the proximal end cap 104 and the coil.

[0041] While FIG. 4B shows a simple diaphragm flexure 412, it is understood that a convoluted (or corrugated) diaphragm-based proximal end cap could be used as well, as shown in FIG. 4C. A convoluted diaphragm flexure 412 could be made, for example, by electroforming, and could have a greater range of motion as well as superior radial load capacity and stiffness, and could have very high axial compliance, but could be more expensive to manufacture. It is believed that the convoluted diaphragm in this system could provide a greater range of motion, up to 10mm vs. 2mm, allowing the device to be "dry-fired" with less chance of over-bending the flexure if it were a simple tympanic diaphragm. Here, the diaphragm flexure 412 could be made nominally planar and then sandwiched between elements at the inside diameter (ID) and outside diameter (OD). At the OD, it can be seen that the diaphragm flexures 412 can be held in a structure 414 that can be brazed, bonded, press fit or even screwed into the tool body 106, where a ring 416 can also be fitted within this structure 414 to press an outer flange of the diaphragm flexures 412 against a step in the structure 414. At its ID, the diaphragm flexures 412 is sandwiched between a flange 418 that can engage the shaft 214 to radially center the shaft 214 within the proximal end cap 104 and that can have dead blow hammer like properties as discussed herein in connection with FIG. 8, and the tool holder 108 that can be expanded to create a strong axial clamping effect and can be bonded, shrink fitted or clamped in place.

[0042] In FIG. 4D, the proximal end cap 420 can have two convoluted diaphragms 422 (individually labeled as diaphragm 422A and diaphragm 422B) spaced apart about four rod diameters by a ring spacer 424 (individually labeled as ring spacers 424A and 424B). This can provide excellent moment support for the rod held by the flexure. A ring 426 can lock the flexure in place axially at the OD. The ring spacers 424 can be identical and have a protruding internal annular flange 428 (individually labeled as flanges 428A and 428B). At the ID, a spacer 430 can be compressed once a rod is inserted therethrough and can be sandwiched between the rod flange 220 and the tool holder 108, similar to the single flexure of FIG. 4C. 4D, spacer 430 can have radially protruding flanges 432 that can limit the distal and proximal travel of the flexure by striking either flange 428, thereby preventing damage to the flexure. In all flexure use cases, distal cap 102 can be the same as proximal cap 104, so tool retaining element 202 can be fully supported by the flexure.

[0043] The proximal end cap 104 for use with the plain bearing 212A is shown as a slip fit into the tool body 106, but it can be a threaded connection with a mating taper to ensure concentricity. It can also be permanently attached by shrink fitting, soldering, brazing, gluing or even welding, since it bears the greatest stresses closest to the surgical procedure and must be free of spaces into which biological material could infiltrate. With the proximal end cap 104 essentially permanently attached to the tool body 106, the distal end cap 102 can be removable, which can be by a threaded connection between the distal end cap 102 and the tool body 106. Within the distal end cap 102 can be a rear plain bearing 212B held in place by a press fit or snap ring 226C, as disclosed herein. The shaft 214 of the tool holder element 202 may be supported at each end and by the concentricity of the system, and may apply only radial parasitic loads resulting from the cutting action that require guidance by the surgeon holding the tool 100. The distal end cap 102 is closable. In other words, it may not be necessary for the shaft 214 to be able to protrude from the distal end cap 102.

[0044] As shown in FIG. 5, the impact motion element 210 can slide along a smooth shaft 214 on the same size and type of rulon used to support the shaft 214. At higher speeds, typically about 0.5 m / s, smooth bore or grooved bearings promote the formation of a dynamic support air film, reducing friction and wear and increasing efficiency even further. The bearings 502 in the proximal and distal ends of the central ferromagnetic core structure 504 of the impact motion element 210 are retained by snap rings 506 (individually labeled as snap rings 506A and 506B). Here, the magnetic members are shown interacting with the coil structure 208 as a Lorentz force actuator. The magnets 510 (individually labeled as magnets 510A, 510B, 510C, 510D, 510E, 510F, 510G, 510H, and 510I) may be shown radially polarized and separated by spacers 512 (individually labeled as spacers 512A, 512B, 512C, 512D, 512E, 512F, 512G, and 512H) so that the magnetic field may project radially from the north pole of one magnet, through the current-carrying coil, and back to the south pole of the adjacent magnet. As the magnetic field traverses the circumferentially wound current-carrying coil, a right-hand rule force is created axially to move the impact motion element 210. The Lorentz force effect may move the mass to create impact inertia and long stroke. Alternatively, every other one of the magnets 510 can be axially polarized, thus forming an NS;SN;NS... or Halbach array, allowing the magnets 510 to be arranged to provide a somewhat stronger field effect, at the potential cost of some increased manufacturing complexity.

[0045] As disclosed herein, the impact motion element 210 may be supported within the coil structure 208 by a linear bearing, which may be an automatic aerostatic bearing. In this way, the impact motion element 210 is radially disengaged from the tool retaining element 202. This may provide a high level of concentricity and efficiency of the electric motor.

[0046] The linear electric motor disclosed herein may be a Lorentz force motor, but it is also possible to use variable reluctance and hysteresis motors, which are more difficult to control, and may be larger, but have a simpler mechanical structure and therefore cost advantages. For variable reluctance motors, the magnetic material of the impact motion element 210 may be made of a soft magnetic material, such as laminated silicon steel with multiple protrusions acting as magnetic poles. For hysteresis motors, the magnetic material of the impact motion element 210 may be a smooth cylinder of hard chrome or cobalt steel with large hysteresis loop characteristics.

[0047] The impact motion element 210 can have a core structure 504 that is solid at one end as shown, and the other end has a washer 514 held in place with a snap ring 516. The entire magnet assembly of the impact motion element 210 can be glued together with epoxy resin. A thin non-magnetic stainless steel tube, approximately ½ to 1 mm thick, can encapsulate the entire assembly to ensure that any magnet chips do not short out the motor in the event of breakage. As disclosed herein, the element can be made of a resilient material, in which case it can protrude to also provide an impact surface, creating a lower peak and longer duration impact force similar to the use of a dead blow hammer. However, for high speed, hard crisp hits, hard steel on hard steel can be used. The opposite end of the impact motion element 210 can be used for retraction.

[0048] To drive the tool forward for cutting, the user pushes the linear powered surgical hammer impact tool 100 forward, and the surface 232 of the tool holder 108 can rest on the front snap ring (or surface) 230 of the proximal end cap 104. The controller 206 can control the coil to retract the impact motion element 210 and then drive it forward to achieve the required speed to generate the desired impact energy. The flange 220 of the tool holder element 202 can then be impacted by the proximal end of the impact motion element 210. To retract the tool, the user pulls back the linear powered surgical hammer impact tool 100, which allows the flange 220 to rest against the inner surface 236 of the end cap 104 and bring the rear impact flange 222 within range of the impact motion element 210 to be accelerated from the ready position near the proximal end of the linear powered surgical hammer impact tool 100 to the distal end of the coil structure 208. The velocity of the impact controls the energy and therefore the force delivered at the time of impact.

[0049] The microphone 116 can be coupled to a controller 206, which can be a microprocessor controller, to control the current to the coil structure 208 to accommodate a user's verbal commands when using the linear powered surgical hammer impact tool 100. As an example, a surgeon can speak "lower force," "higher force," "faster," "slower," etc., upon observing an impact, understanding that the user can use their voice to control the linear powered surgical hammer impact tool 100 to suit their needs and style of use. The controller 206 can be trained to respond to a particular user.

[0050] The controller 206 can control the acceleration distance and the current to the coil structure 208 to vary the force and therefore the acceleration of the impact motion element 210 to obtain a smaller force. The impact force can be directly proportional to the energy, which is half the mass of the impact motion element 210 times the square of its speed. "Faster" can mean that the controller 206 will move the mass back to the starting point for the next impact faster after the impact and then accelerate the impact motion element 210. The controller 206 can operate in a current control mode to generate the desired force, and the voltage will follow the speed as the impact motion element 210 accelerates. The Lorentz force actuator will make the moving element travel farther than the pitch between the magnets, so the sensing element 216, e.g., a Hall effect sensor, can be distributed in the coil structure 209 to sense the polarity of the magnets underneath and switch the current direction to the coil 208 to ensure that the force is always in the right direction as the impact motion element 210 accelerates. This type of longer range linear electric actuator may have three independently controllable coils that are sinusoidally switched to provide smooth motion of the moving magnet member (eg, impact motion element 210).

[0051] As the impact motion element 210 accelerates, there is an equal and opposing force on the coil structure 208 that can be felt by the user, but can be somewhat absorbed by the mass of the system. Figure 6A shows a partial cross-sectional view of an assembly of a handle 602 that can have a top portion 604 to include a circumferential internal groove 606 (individually labeled as grooves 606A and 606B) for receiving a damping element 608 (individually labeled as damping elements 608A and 608B), such as a "quad ring," for securing the housing 118. The housing 118 can have a corresponding external groove 612 (individually labeled as grooves 612A and 612B) as shown in Figure 6B, where an inner diameter lobe of the damping element 608B engages the side of the groove 606B, while an outer diameter lobe of the damping element 608B engages the side of the groove 612 of the housing 118. Although Figures 6A and 6B show a rectangular damping element, a circular O-ring can also be used.

[0052] 7 illustrates a cross-sectional view of a linear powered surgical hammer impact tool 700 consistent with at least one embodiment of the present disclosure. The linear powered surgical hammer impact tool 700 can include a tool holder element 702 that can have a proximal impact flange 704 for driving a tool secured to the tool holder 108 and a distal impact flange 706 for retracting the tool. The proximal impact flange 704 and the distal impact flange 706 can be separate elements threaded onto a rod 708. The impact flanges 704 and 706 can have a cavity for a resilient polymer element 710 (individually labeled as resilient polymer elements 710A and 710B), which can provide the linear powered surgical hammer impact tool 700 with performance beyond that of a dead blow hammer as disclosed herein. The distal end 712 of the rod 708 can have a hexagonal shape machined to slide into a hexagonal bushing 714. If a diaphragm type bearing is used, the rod 708 and the diaphragm bearing may be designed to properly engage one another.

[0053] As disclosed herein, to deliver lower forces of longer duration, a resilient low loss polymer such as hard cast polyurethane can be incorporated within the contact surface of the impact motion element 210 or as a washer installed around the shaft 214 of the tool holder element 702 at the impact surfaces of the flanges 220 and 222 (at least as shown in FIG. 2).

[0054] 8A, 8B, and 8C show a linear powered surgical hammer impact tool 800 in accordance with at least one embodiment of the present disclosure. The linear powered surgical hammer impact tool 800 can include a tube motor 802. As disclosed herein, the tube motor 802 can be assembled inside a housing 804, and a core 806 can move back and forth inside a motor stator 808. A rod impactor 810, shown in a tubular shape, can be attached to the end of the movable core 806 by its distal flange 814 and a threaded stud 812 threaded into the end of the core 806. A cylindrical space 816 inside the rod impactor 810 can accommodate a flared end 818 of a tool holding element 820, which is impacted to drive the tool holding element 820 in a proximal or distal direction to drive the tool forward or retract the tool. Although shown here as a tubular structure, it is understood that the rod impactor 810 can be planar, such as within the body of a turnbuckle, so that its sides are open, and thus one piece, and the tool holder element 820 thus inserted eliminates the need for the end 822 to be a separately attachable element.

[0055] The axial movement space within the rod impactor's internal cavity, e.g., cylindrical space 816, may be equal to the stroke of the moving core required to generate the maximum impact energy desired. This stroke distance may be determined by the maximum achievable force and speed of the tubular motor 802 and the combined mass of the moving core 806 and tubular rod impactor 810. The force-velocity curve of the motor may be used in conjunction with the total moving mass to determine the acceleration as a function of speed and therefore distance traveled to calculate the required stroke, which plus the thickness of the flared end 818 is the total length of the cavity 816. FIG. 9B illustrates the linear powered surgical hammer impact tool 800 in a retract mode, where a user may be pushing the linear powered surgical hammer impact tool 800 forward to engage an object (e.g., a femur) and a surgical tool (e.g., a broach, not shown, held in the tool holder 108) that the tool is to operate on. Thus, the distal end of the tool holder 108 may be touching the proximal face of the proximal end cap 824, and the motion-limiting flange 826 of the tool retaining element 820 may be spaced distally rearward from the end cap 824. The moveable core 806 may be accelerated forward at any time until the proximal face of the flange 814 impacts the distal face of the flared end 818, transferring the kinetic energy of the core 806 and rod impactor 810 to the tool holder element 820. This may send stress waves down the shaft 828, where they are then transferred to the tool holder 108 and into the operating tool to perform work on an object, such as, for example, driving a reamer into bone.

[0056] To retract the surgical tool, the user pulls the linear powered surgical hammer impact tool 800 toward themselves and the motion-limiting flange 826 of the tool retaining element 820 can contact the end cap 824 (or snap ring 830) while the core 806 continues to move forward by a system controller, such as controller 206, accelerating distally such that the distal inner surface of the impactor end cap 822 impacts the proximal surface of the flared end 818, imparting energy to retract the operating tool.

[0057] The tool retaining element 820 may be supported by a bearing system capable of withstanding radial and moment loads and ensuring efficient and precise axial movement such that the flared end 818 does not contact the bore 816. The bore 816 is not pressurized, since there may be a radial clearance, e.g., 1 mm, between the relative moving elements to allow essentially unrestricted air flow to ensure that energy is not lost to pump the air through the throttle. For example, the two bearings 832 (individually labeled as bearings 832A and 832B) may be separated by at least three or more, e.g., five times, the diameter of the shaft 828. Furthermore, the distance from the bearing 832A to the flange 818 may be approximately equal to the separation distance between the bearings. In this way, the radial movement of the flared end 818 may be approximately the radial clearance between the bearing and the shaft 828, which may be about 0.1 mm, thus ensuring that the flared end 818 does not contact the inside of the bore 816. As disclosed herein, the linear motion bearings 832 can be plain bearings or rolling element or flexure element bearings selected for the type of application and the performance desired.

[0058] The linear powered surgical hammer impact tool 800 can include a handle 834 with a grip 836 and a trigger 838. Inside the handle 838 and base 840 can be control circuitry such as the controller 206 and a removable and rechargeable battery 842 that slides into place. The top of the handle 834 can be coupled to the mounting block 810. A damping interface between the two can also be used as disclosed herein. A speaker / microphone 844 allows for voice control of the linear powered surgical hammer impact tool 800 to respond to user commands and provide feedback to the user regarding the status of the device as disclosed herein.

[0059] Any of the embodiments disclosed herein may allow for advanced control whereby the linear electric surgical hammer impact tool can automatically adjust impact energy and frequency for the tool being used and the patient's condition and procedure. To achieve intelligent control of the tool as the procedure progresses, sensors such as sensor 224 may be used to monitor the position of tool holding elements such as tool holding elements 202, 702 and 820 relative to the position of the tool, or position sensors contained within commercially available tube motors may be used. Additionally, an accelerometer within the tool (or its adapter element allowing its proper positioning relative to the tool holder 108) may likewise provide additional feedback to allow confirmation of the tool's advancement into the bone. Consistent with the embodiments disclosed herein, the procedure may be viewed by a camera and information from the camera and accelerometer may be transmitted by wireless link to control electronics such as controller 206 to similarly monitor the advancement of the tool into the bone with each impact.

[0060] 9A and 9B illustrate a linear powered surgical hammer impact tool 900 in accordance with at least one embodiment of the present disclosure. The linear powered surgical hammer impact tool 900 can include a housing 902 having a rear cap 904 and a front cap 906. A rear flange 908 and a front flange 910 can be secured to the housing 902 adjacent the rear cap 904 and the front cap 906, respectively, with bolts 912. The housing 902 can define a cavity 903 extending along a longitudinal axis of the housing 902.

[0061] A shuttle 914 may be positioned at least partially within the housing 902 and may include a rod 916 (individually labeled as rods 916A and 916B). In operation, the shuttle 914 may translate along a longitudinal axis of the housing 902. A collar 918 (individually labeled as collars 918A, 918B, 918C, and 918D) may be coupled to the rod 916 and may define a travel space 920. In other words, the collar 918 may limit the movement of the shuttle 914 to a predetermined stroke range. The position of the collar 918 may be adjustable to increase or decrease the stroke length for the shuttle 914.

[0062] Shuttle 914 can include a mass 922 (individually labeled as masses 922A and 922B) and a spring 924 (individually labeled as springs 924A and 924B). Mass 922 and spring 924 can bear against rear flange 908 to bias shuttle 914 toward a forward end (sometimes referred to as a proximal end) of linear powered surgical hammer impact tool 900. The position of collars 918A and 918B can be altered to adjust the amount of biasing force that spring 924 generates. Thus, mass 922 and spring 924 can act as a biasing element.

[0063] The linear powered surgical hammer impact tool 900 may include a slider 926 that translates back and forth within a cavity 903 defined by the housing 902 along a longitudinal axis of the housing 902. The slider 926 includes a slider flange 928 that defines a bore 930 (individually labeled as bore 930A and bore 930B). The rod 916 may pass through the bore 930, and the slider flange 928 may be positioned between the collars 918 to limit the range of motion of the slider 926 relative to the shuttle 914. The slider flange 928 may likewise be positioned between collars 918C and 918D and a shuttle flange 932.

[0064] During an impact stroke, slider flange 928 can impact collars 918C and 918D to drive shuttle 914 and a tool attached thereto (e.g., a broach) forward. During a retract stroke, slider flange 928 can impact collars 918A and 918B to drive shuttle 914 and a tool attached thereto rearward.

[0065] The movement of the slider 926 may be controlled by a controller 934 that can control the motor 936. A slider shaft 938 may pass through a through hole 940 defined by the motor 936 as disclosed herein. The slider shaft 938 may also include one or more magnets as disclosed herein and cooperate with the motor 936 to oscillate the slider 926 back and forth to generate an impact force. The controller 934 may be a programmable controller or other circuit as disclosed herein. The motor 936 may be a tube motor or other motor as disclosed herein. A sensor, such as a Hall effect sensor as disclosed herein, may be used to monitor the position of the slider 926 relative to the impact motion element 210 as disclosed herein. The sensor and magnet are not shown in FIG. 9 for clarity and may be of any configuration as disclosed herein.

[0066] The controller 934 and motor 936 may be housed within a cavity 942 defined by a handle 944. The handle 944 may include triggers 946 (individually labeled as trigger 946A and trigger 946B). In use, the surgeon can press one of the triggers (e.g., trigger 946A) to cause the linear powered surgical hammer impact tool 900 to generate the impact force needed to drive the tool forward (sometimes referred to as a drive force). Pressing the other trigger (e.g., trigger 946B) can cause the linear powered surgical hammer impact tool 900 to generate an impact force (sometimes referred to as a retract force) to withdraw the tool from the bone.

[0067] 10A, 10B and 10C show bone quality assessment options consistent with at least one embodiment of the present invention. An initial assessment of bone quality by the surgeon entered into the controller (e.g., input of bone quality by the surgeon into the tool or some user interface, or some external assessment of bone quality via x-ray or CT), the surgeon can speak to the tool and the words are received by a microphone. Using a wireless link, the tool's controller can access an external computer that may be able to process the information, and a control plan can be downloaded to the tool that can be used to better control the tool for the procedure at hand.

[0068] As shown in FIG. 10A, various linear powered surgical hammer impact tools disclosed herein can provide feedback on the displacement of the tool (1002). Based on the displacement, bone quality can be determined. For example, a large displacement may mean poor bone quality since the tool displaces the bone easily. A small displacement may be higher bone quality since the tool cannot displace the bone as much for a given set point. Once the bone quality is estimated, the value can be displayed to the surgeon (1004).

[0069] As shown in FIG. 10B, tomographic scan, x-ray, or other scan data can be used to form an estimate of bone quality (1006). For example, if the x-ray is faint, bone density may be low, which may equate to poor bone quality. Darker and / or clearer x-rays may indicate denser bone with higher bone quality. Once the bone quality estimate is made, the value may be displayed to the surgeon (1008).

[0070] As shown in Figure 10C, the surgeon can input various factors about the patient, such as age, sex, race, data from pre-operative scans, etc. (1010). Using the various data, the computer system can use lookup tables, actuarial tables, other patient-derived anonymous data, etc. to develop a bone quality estimate. Based on the various factors, an estimated bone quality can be determined and displayed to the surgeon (1012).

[0071] 11 illustrates a method of controlling a linear powered surgical hammer impact tool consistent with at least one embodiment of the present disclosure. Once the bone quality has been assessed and entered into the controller (1102), the surgery may begin (1104). For example, the bone quality score may range from 1 for poor bone quality to 5 for good bone quality. Depending on the bone quality, the tool may be set to deliver a predetermined impact force. For example, for low bone quality, a low impact force may be set. For higher bone quality, a higher impact force may be set.

[0072] During the operation, the bone quality may be updated using tool / position sensor detection based on how quickly the tool is moving into the bone for the first few broaches (1106). For example, if the broach is sliding faster than expected due to cancellous bone (e.g., osteoporosis), the bone quality may be updated. The goal of the initial bone quality assessment may be to modulate the starting force (initial impact) and adjust the amount of subsequent impact modulation as the tool advances into the bone (1108). For example, as the tool continues to impact as the broach size increases, the energy is monitored and remains unchanged when there is a "maximum" broach travel down the femoral canal (as measured by the position sensor), for example.

[0073] Bone renewal is a continuous process. For example, when the position sensor indicates that the broach or implant has not advanced very far ("mid-advance"), it may mark the end of travel. Continuing to impact the bone more violently may damage it, so the tool may automatically modulate the force down by a certain percentage (e.g. the weaker the bone the more significant the reduction, the stronger the reduction the less significant, etc.).

[0074] FIG. 12 illustrates an exemplary schematic diagram of a controller 1200, such as controllers 206 and 934, in accordance with at least one embodiment of the present disclosure. As illustrated in FIG. 12, the controller 1200 can include a processor 1202 and a memory 1204. The memory unit 1204 can include a software module 1206 and bone data 1208. While executing on the processor 1202, the software module 1206 can perform processes such as receiving displacement data, determining bone quality, adjusting impact force of a tool, including, for example, one or more steps included in the method described below with respect to FIGS. 10 and 11. As disclosed herein, the bone data 1208 can include formulas, lookup tables, actuarial tables, patient data, and the like that can be used to determine bone quality as disclosed herein. The bone data 1208 can also include data for correlating desired impact force for a given bone quality with various sizing of tools, such as rasps and / or broaches. The controller 1200 may also include a user interface 1210 , a communication port 1212 , and input / output (I / O) devices 1214 .

[0075] The user interface 1210 may include any number of devices that allow a user to interface with the controller 1200. Non-limiting examples of the user interface 1210 may include a keypad, buttons located on a housing, such as a linear powered surgical hammer impact tool, a microphone, a display (such as a touch screen connected to the controller via a wired or wireless connection), and the like.

[0076] The communications port 1212 may enable the controller 1200 to communicate with a variety of information sources and devices, including, but not limited to, remote computing devices, such as a server or other remote computer. For example, the remote computing device may maintain data, such as patient scan data, that is retrievable by the controller 1200 using the communications port 1212. Non-limiting examples of the communications port 1212 may include an Ethernet card (wireless or wired), a Bluetooth transmitter and receiver, a near field communication module, and the like.

[0077] The I / O devices 1214 may enable the controller 1200 to receive and output information. Non-limiting examples of the I / O devices 1214 may include sensors, such as Hall effect sensors, cameras (still or video), microphones, etc. For example, the I / O devices 1214 may enable the controller 1200 to receive patient data directly from a CT scan device, an X-ray machine, etc. As another example, the I / O devices 1214 may include a Hall effect sensor that transmits one or more signals received by the processor 1202. The processor 1202 may then determine the position of the slider and / or the impact force that the slider should generate based on the position of the slider.

[0078] Note The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, for illustrative purposes, specific embodiments in which the invention may be practiced. These embodiments are also referred to herein as "examples." Such examples may include elements in addition to those shown or described. However, the inventors also contemplate examples in which only those elements shown or described are provided. Moreover, the inventors also contemplate examples using any combination or permutation of the elements shown or described (or one or more aspects thereof) with respect to the particular example (or one or more aspects thereof) shown or described herein or with respect to other examples (or one or more aspects thereof).

[0079] In the event of a conflict in usage between this specification and any document so incorporated by reference, the usage in this specification will control.

[0080] As used herein, the terms "a" or "an" are used to include one or more, as is common in patent documents, independent of any other instance or usage of "at least one" or "one or more." As used herein, the term "or" is used to mean a non-exclusive or, thus, unless otherwise indicated, "A or B" includes "A but not B," "B but not A," and "A and B." As used herein, the terms "including" or "in which" are used as the plain English equivalents of the respective terms "comprising" and "where in." Similarly, in the following claims, the terms "including" and "comprising" are open-ended, i.e., systems, devices, articles, compositions, formulations, or processes that include elements in addition to those recited after such terms in the claim are still deemed to be within the scope of the claim. Moreover, in the following claims, the terms "first," "second," and "third," etc., are used merely as labels and are not intended to impose numerical requirements on their objects.

[0081] The above description is intended to be illustrative, not limiting. For example, the above-described examples (or one or more aspects thereof) may be used in combination with each other. For example, other embodiments may be used by one of ordinary skill in the art upon review of the above description. The Abstract is provided in accordance with 37 C.FR §1.72(l) to enable the reader to quickly ascertain the contents of the technical disclosure. The Abstract is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Similarly, in the above Detailed Description, various features may be grouped together to simplify the disclosure. This should not be construed as intending that features of the disclosed subject matter that are not claimed are essential to any claim. Rather, inventive subject matter may reside in fewer than all features of a particular disclosed subject matter embodiment. Thus, the following claims are incorporated herein as examples or embodiments into the Detailed Description, with each claim standing on its own as a separate embodiment, and it is contemplated that such embodiments can be combined with each other in various combinations or permutations. The scope of the present invention should be determined with reference to the appended claims, along with the full range of equivalents to which such claims are entitled. According to aspect (1), in a linear electric surgical hammer impact tool, there is provided: a housing defining a cavity extending along a longitudinal axis; a slider positioned within the cavity and disposed along the longitudinal axis of the housing; a shuttle positioned within the cavity and disposed along the longitudinal axis of the housing, the shuttle including a first collar set and a second collar set; a motor configured to drive the slider in a first direction and a second direction along the longitudinal axis; a tool holder coupled to the shuttle; 1. A linear electric surgical hammer impact tool comprising: A linear powered surgical hammer impact tool, wherein movement of the slider in the first direction brings the slider into contact with the first collar set and movement of the slider in the second direction brings the slider into contact with the second collar set. According to aspect (2), the slider includes a slider flange that contacts the first and second collar sets during movement of the slider. According to aspect (3), the motor is a tube motor, and the slider shaft passes at least partially through the tube motor. According to aspect (4), the shuttle comprises: Shuttle flange and; a first rod extending from the shuttle flange, the first rod having a first collar from the first and second collar sets attached thereto; a second rod extending from the shuttle flange, the second rod having a second collar from the first and second collar sets attached thereto; Includes. According to aspect (5), the shuttle includes a biasing element configured to bias the shuttle in a first direction. According to aspect (6), the slider may further include a sensor arranged to detect a position of the slider within the cavity. According to aspect (7), the operation of determining an estimate of bone quality; and increasing or decreasing an impact force generated by the linear powered surgical hammer impact tool based on the estimate of the bone quality; The apparatus further includes a controller operable to perform operations including: According to aspect (8), the operation of determining a displacement of a tool attached to the tool holder; and increasing or decreasing an impact force generated by said linear powered surgical hammer impact tool based on said displacement of said tool; The apparatus further includes a controller operable to perform operations including: According to aspect (9), the device further includes a handle defining a cavity sized to accommodate the electronics and the motor. According to an aspect (10), the handle comprises: a first trigger operable to move the slider in the first direction; a second trigger operable to move the slider in the second direction; Contains: According to an aspect (11), in a linear electric surgical hammer impact tool, the present invention comprises: a housing defining a cavity extending longitudinally along the housing; a slider positioned within the cavity and including a slider shaft disposed along the longitudinal axis of the housing; A shuttle positioned within the cavity and disposed along the longitudinal axis of the housing, the shuttle comprising: Shuttle flange, a first rod extending from the shuttle flange and having a first collar and a second collar attached thereto; and a second rod extending from the shuttle flange and having a third collar and a fourth collar attached thereto, the first collar, the second collar, the third collar, and the fourth collar defining a stroke of the slider; Shuttles including; a tube motor defining a throughbore sized to receive the slider shaft and configured to drive the slider along the longitudinal axis in a first direction and a second direction; a tool holder coupled to the shuttle; 1. A linear electric surgical hammer impact tool comprising: A linear powered surgical hammer impact tool, wherein movement of the slider in the first direction brings the slider into contact with the first collar and the third collar, and movement of the slider in the second direction brings the slider into contact with the second collar and the fourth collar. According to aspect (12), the shuttle includes a biasing element configured to bias the shuttle in a first direction. According to aspect (13), the slider may further include a sensor arranged to detect a position of the slider within the housing. According to aspect (14), the method includes the steps of: determining an estimate of bone quality; and increasing or decreasing an impact force generated by the linear powered surgical hammer impact tool based on the estimate of the bone quality; The apparatus further includes a controller operable to perform operations including: According to aspect (15), the operation of determining a displacement of a tool attached to the tool holder; and increasing or decreasing an impact force generated by said linear powered surgical hammer impact tool based on said displacement of said tool; The apparatus further includes a controller operable to perform operations including: According to aspect (16), a device includes a handle defining a cavity sized to accommodate electronics and the motor; a first trigger operable to move the slider in the first direction; a second trigger operable to move the slider in the second direction; Further includes: According to aspect (17), a processor and When executed by the processor, the processor: receiving an estimate of bone quality; receiving feedback during a surgical procedure; determining an updated estimate of the bone quality; and increasing or decreasing an impact force generated by the linear powered surgical hammer impact tool based on the updated estimate of the bone quality. A memory storing instructions to perform operations including: A linear electric surgical hammer impact tool comprising: According to aspect (18), the act of determining the updated estimate of bone quality includes an act of determining a displacement of a tool attached to a tool holder of the linear powered surgical hammer impact tool. According to aspect (19), receiving the estimate of the bone quality includes receiving patient data related to the bone to be rasp. According to aspect (20), the method further includes a Hall effect sensor, and the operations further include determining a position of a slider located within a housing of the linear powered surgical hammer impact tool based on a signal received from the Hall effect sensor.

Claims

1. In a linear electric surgical hammer impact tool: a housing defining a cavity extending along a longitudinal axis; a slider positioned within the cavity and disposed along the longitudinal axis of the housing; a shuttle positioned within the cavity and disposed along the longitudinal axis of the housing, the shuttle including a first collar set and a second collar set; a motor configured to drive the slider in a first direction and a second direction along the longitudinal axis; a tool holder coupled to the shuttle; 1. A linear electric surgical hammer impact tool comprising: A linear powered surgical hammer impact tool, wherein movement of the slider in the first direction brings the slider into contact with the first collar set and movement of the slider in the second direction brings the slider into contact with the second collar set.

2. The linear powered surgical hammer impact tool of claim 1 , wherein the slider includes a slider flange that contacts the first and second collar sets during movement of the slider.

3. 3. The linear electric surgical hammer impact tool of claim 1 or 2, wherein the motor is a tube motor, the slider shaft passing at least partially through the tube motor.

4. The shuttle comprises: A shuttle flange; a first rod extending from the shuttle flange, the first rod having first collars from the first collar set and the second collar set attached thereto; a second rod extending from the shuttle flange, the second rod having attached thereto a second collar from the first collar set and a second collar from the second collar set; 4. A linear electric surgical hammer impact tool according to any one of claims 1 to 3, comprising:

5. The linear powered surgical hammer impact tool of claim 1 , wherein the shuttle includes a biasing element configured to bias the shuttle in a first direction.

6. The linear powered surgical hammer impact tool of claim 1 , further comprising a sensor disposed to detect a position of the slider within the cavity.

7. determining an estimate of bone quality; and increasing or decreasing an impact force generated by the linear powered surgical hammer impact tool based on the estimate of the bone quality; 7. The linear powered surgical hammer impact tool of claim 1, further comprising a controller operable to perform operations including:

8. determining a displacement of a tool mounted in the tool holder; and increasing or decreasing an impact force generated by the linear powered surgical hammer impact tool based on the displacement of the tool; 8. The linear powered surgical hammer impact tool of claim 1, further comprising a controller operable to perform operations including:

9. 9. The linear powered surgical hammer impact tool of claim 1, further comprising a handle defining a cavity sized to accommodate electronics and the motor.

10. The handle comprises: a first trigger operable to move the slider in the first direction; a second trigger operable to move the slider in the second direction; 10. The linear powered surgical hammer impact tool of claim 9, comprising:

11. In a linear electric surgical hammer impact tool: a housing defining a cavity extending along a longitudinal axis of the housing; a slider positioned within the cavity and including a slider shaft disposed along the longitudinal axis of the housing; A shuttle positioned within the cavity and disposed along the longitudinal axis of the housing: Shuttle flange, a first rod extending from the shuttle flange and having a first collar and a second collar attached thereto; and a second rod extending from the shuttle flange and having a third collar and a fourth collar attached thereto, the first collar and the second collar of the first rod and the third collar and the fourth collar of the second rod defining a stroke of the slider; a shuttle including: a tube motor defining a throughbore sized to receive the slider shaft and configured to drive the slider along the longitudinal axis in a first direction and a second direction; a tool holder coupled to the shuttle; 1. A linear electric surgical hammer impact tool comprising: a linear powered surgical hammer impact tool, wherein movement of the slider in the first direction causes the slider to contact the first collar and the third collar, and movement of the slider in the second direction causes the slider to contact the second collar and the fourth collar.

12. The linear powered surgical hammer impact tool of claim 11 , wherein the shuttle includes a biasing element configured to bias it in a first direction.

13. 13. The linear powered surgical hammer impact tool of claim 11 or claim 12, further comprising a sensor arranged to detect a position of the slider within the housing.

14. determining an estimate of bone quality; and increasing or decreasing an impact force generated by the linear powered surgical hammer impact tool based on the estimate of the bone quality; 14. The linear powered surgical hammer impact tool of any one of claims 11 to 13, further comprising a controller operable to perform operations including:

15. determining a displacement of a tool mounted in the tool holder; and increasing or decreasing an impact force generated by the linear powered surgical hammer impact tool based on the displacement of the tool; 15. The linear powered surgical hammer impact tool of any one of claims 11 to 14, further comprising a controller operable to perform operations including:

16. a handle defining a cavity sized to accommodate electronics and said tube motor; a first trigger operable to move the slider in the first direction; a second trigger operable to move the slider in the second direction; 16. The linear electric surgical hammer impact tool of any one of claims 11 to 15, further comprising:

17. A processor; When executed by the processor, the processor: receiving an estimate of bone quality; receiving feedback during a surgical procedure; determining an updated estimate of the bone quality; and increasing or decreasing an impact force generated by the linear powered surgical hammer impact tool based on the updated estimate of the bone quality. A memory storing instructions to perform operations including:

12. The linear electric surgical hammer impact tool of claim 1 or claim 11, comprising:

18. 20. The linear powered surgical hammer impact tool of claim 17, wherein determining the updated estimate of bone quality includes determining a displacement of a tool attached to a tool holder of the linear powered surgical hammer impact tool.

19. 19. The linear powered surgical hammer impact tool of claim 17 or 18, wherein receiving the estimate of bone quality includes receiving patient data related to a bone to be rasped.

20. 20. The linear powered surgical hammer impact tool of claim 17, further comprising a Hall effect sensor, and the operations further comprising determining a position of a slider located within a housing of the linear powered surgical hammer impact tool based on a signal received from the Hall effect sensor.

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