Surgical sagittal blade cartridge

Abstract

A surgical sagittal saw cartridge is provided, which includes a guide bar formed from an inner plate and an opposing outer plate. [Solution] The cartridge 10 has a blade 70 extending distally from the guide bar 11, and the blade includes a blade head 74 having a plurality of teeth 78. The plurality of teeth may include a combination of lead teeth 76A, 76B and base teeth, the lead teeth being configured to extend distally beyond the base teeth. The inner plate may include an inner tine and / or two opposing outer tines. The inner tine may be formed to define a head to which the blade is configured to strike and pivot. The inner plate 16 may be configured to extend beyond the opposing edge of the outer plate and have opposing edges that define mounting features. The inner plate may also define reference features for aligning and / or verifying the orientation of the cartridge using a navigation system.

Description

Technical Field

[0001] Cross - reference to Related Applications This application claims the benefit of priority to U.S. Provisional Patent Application No. 63 / 127,7 27, filed on December 18, 2020, and to U.S. Provisional Patent Application No. 63 / 251,898, filed on October 4, 2021. The disclosures of both applications are hereby incorporated by reference in their entirety.

Background Art

[0002] A sagittal saw blade is a surgical saw having a head that pivots about an axis perpendicular to the blade. International Publication No. WO 2006 / 017066(A2) / U.S. Patent No. 7,497,860, International Publication No. WO 2007 / 030793(A2) / U.S. Patent No. 7,704,254, and International Publication No. WO 2016 / 182981(A2) / U.S. Patent No. 10,687,823, the contents of which are hereby incorporated by reference, each disclose a sagittal saw blade cartridge. The sagittal saw blade cartridge includes a stationary guide bar and a blade head. The guide bar is an elongate member that is releasably attached to a handpiece and a saw that actuates the cartridge. The blade head is pivotally mounted to the guide bar and has teeth that extend forward from the guide bar. One or more drive links extend from the blade head toward the proximal end of the guide bar. The drive links are reciprocated back and forth by a drive assembly within the saw. The reciprocation of the drive links pivots the blade head back and forth. The pivoting of the blade head causes the teeth to cut the tissue against which the blade head is pressed. [[ID=3 ,3]] This makes it possible to do so. Sometimes, this type of cartridge is used in vibratory chip saw blades. It is called a "docartridge."

[0003] The advantage of a sagittal blade cartridge is that the only part of the rotating cartridge is distal. It is a blade head that is placed. For comparison, conventional sagittal saw blades are The blade rotates from its mounting point on the saw. When the cartridge is activated, it moves. The surgeon's hand holding the handpiece, and / or the robotic arm, vibrates more subtly. Furthermore, the sagittal saw blade is properly positioned relative to the tissue it is intended to cut. It is also common practice to use a cutting guide to position the blade. When moving, the oscillating motion of the blade defines the cutting guide, which is the slot into which the blade is seated. This causes significant wear on the surface. The guide bar of the surgical sagittal blade cartridge is this It moves only minimally within the lot. Therefore, instead of a conventional blade, a cart By using a ridge, the material forming the cutting guide experiences less wear from the guide. It will disappear.

[0004] Either a conventional sagittal blade or a sagittal blade cartridge penetrates the bone and advances. At that time, the blade head is exposed to resistance and / or curved, inclined, or shaped surfaces. This resistance can become noticeable when the cut is 5 cm or deeper. In many cases, The bone located adjacent to the bottom surface of the cartridge is stronger than the bone located directly above the cartridge. It also offers greater resistance to cutting. Similarly, the curvature, angle, and / or shape of the bone surface are sagittal. The blade cartridge can be bent in a specific direction. The cartridge is a typical mechanical device. Similarly, when moving forward, one will move along the path with the least resistance. The bone above the cartridge may offer less resistance to cutting than the bone below the cartridge. Therefore, as the cartridge moves forward, it may bend upward away from the desired cutting surface. This upward bending or drift of the blade is known as skiving. Furthermore, due to the density and shape of the bone at the point where the device enters, There may also be situations where the ridge bends downwards from the cutting surface as it moves forward. This type of bending or drift is known as diving.

[0005] Regardless of the direction in which the blade bends or drifts, it is undesirable. This is because the sagittal saw blade cartridge typically removes bone, and the removed bone is previously It is used to allow artificial implants to be fitted into the space that was previously occupied. This is because the graft is designed to sit precisely on the complementary surface of the bone into which it will be attached. The designed surface has been formed. The cut did not leave a surface with the desired shape on the bone. In some cases, the outcome of the graft fitting procedure may not be optimal.

[0006] Theoretically, by increasing the thickness of the guide bar, the surgical sagittal blade cartridge This would increase the rigidity of the cutting guide into which the cartridge is inserted. Please understand that the slots tend to be relatively narrow. In many cases, the height of this slot... The height is approximately 1.5 mm or less. This height limit is that it can be inserted into this slot. A limit is imposed on the thickness of the cartridge guide bar. Furthermore, if the thickness of the guide bar increases... There is a need to increase, ultimately, the thickness of the cut that will be formed by the cartridge. Also, increasing the thickness of the cut can lead to the cartridge leaving a cut surface that does not have the desired planar smoothness. Thus, increasing the thickness of the guide bar is not typically a practical solution for reducing the occurrence of cartridge flexure. In the context of robotic applications, the thickness of the cutting guide is not a limiting factor, but increasing the thickness of the guide bar will ultimately require an increase in the thickness of the blade tip, which will also increase the amount of bone removed (more work is done), which may be undesirable. In the context of robotic applications, the thickness of the cutting guide is not a limiting factor, but increasing the thickness of the guide bar will ultimately require an increase in the thickness of the blade tip, which will also increase the amount of bone removed (more work is done), which may be undesirable. In the context of robotic applications, the thickness of the cutting guide is not a limiting factor, but increasing the thickness of the guide bar will ultimately require an increase in the thickness of the blade tip, which will also increase the amount of bone removed (more work is done), which may be undesirable. In the context of robotic applications, the thickness of the cutting guide is not a limiting factor, but increasing the thickness of the guide bar will ultimately require an increase in the thickness of the blade tip, which will also increase the amount of bone removed (more work is done), which may be undesirable. In the context of robotic applications, the thickness of the cutting guide is not a limiting factor, but increasing the thickness of the guide bar will ultimately require an increase in the thickness of the blade tip, which will also increase the amount of bone removed (more work is done), which may be undesirable. In the context of robotic applications, the thickness of the cutting guide is not a limiting factor, but increasing the thickness of the guide bar will ultimately require an increase in the thickness of the blade tip, which will also increase the amount of bone removed (more work is done), which may be undesirable. In the context of robotic applications, the thickness of the cutting guide is not a limiting factor, but increasing the thickness of the guide bar will ultimately require an increase in the thickness of the blade tip, which will also increase the amount of bone removed (more work is done), which may be undesirable. In the context of robotic applications, the thickness of the cutting guide is not a limiting factor, but increasing the thickness of the guide bar will ultimately require an increase in the thickness of the blade tip, which will also increase the amount of bone removed (more work is done), which may be undesirable. SUMMARY OF THE INVENTION

[0007] The present invention relates to a novel and useful surgical sagittal blade cartridge. The surgical sagittal blade cartridge includes a guide bar designed to resist deformation when subjected to non-uniform resistance. The surgical sagittal blade cartridge includes a guide bar designed to resist deformation when subjected to non-uniform resistance. The surgical sagittal blade cartridge includes a guide bar designed to resist deformation when subjected to non-uniform resistance.

[0008] The surgical sagittal blade cartridge of the present invention includes a guide bar formed using three plates. There is an upper plate and a bottom plate opposite the upper plate. There is an inner plate between the upper and bottom plates. The inner plate is formed to have a curved head. The curved head functions as a boss about which the cartridge blade head pivots as a center. The surgical sagittal blade cartridge of the present invention includes a guide bar formed using three plates. There is an upper plate and a bottom plate opposite the upper plate. There is an inner plate between the upper and bottom plates. The inner plate is formed to have a curved head. The curved head functions as a boss about which the cartridge blade head pivots as a center. The surgical sagittal blade cartridge of the present invention includes a guide bar formed using three plates. There is an upper plate and a bottom plate opposite the upper plate. There is an inner plate between the upper and bottom plates. The inner plate is formed to have a curved head. The curved head functions as a boss about which the cartridge blade head pivots as a center. The surgical sagittal blade cartridge of the present invention includes a guide bar formed using three plates. There is an upper plate and a bottom plate opposite the upper plate. There is an inner plate between the upper and bottom plates. The inner plate is formed to have a curved head. The curved head functions as a boss about which the cartridge blade head pivots as a center. The surgical sagittal blade cartridge of the present invention includes a guide bar formed using three plates. There is an upper plate and a bottom plate opposite the upper plate. There is an inner plate between the upper and bottom plates. The inner plate is formed to have a curved head. The curved head functions as a boss about which the cartridge blade head pivots as a center.

[0009] The summary of this invention conveys, in a simplified form, a selection of concepts that will be further described later in the mode for carrying out the following invention. The summary of this invention does not limit the scope of the claimed subject matter. The summary of this invention conveys, in a simplified form, a selection of concepts that will be further described later in the mode for carrying out the following invention. The summary of this invention does not limit the scope of the claimed subject matter. Nor is it intended to define or identify the key or essential features of the claimed subject matter. Nor is it so intended.

[0010] In one aspect, a saw blade cartridge (10) for use with a surgical manipulator (1) is disclosed. The saw blade cartridge also includes a guide bar including a distal portion and a proximal portion, the guide bar including a first plate, a second plate, and an inner plate partially disposed between the first plate and the second plate, the inner plate defining a swivel surface. The cartridge also includes a blade at least partially disposed between the first plate and the second plate, the blade being included. The cartridge also includes a blade body including a proximal end and a distal end. The cartridge also includes a blade head disposed on the distal end of the blade body, the blade head having teeth formed thereon, the proximal end of the blade body abutting the swivel surface. The cartridge also includes a proximal portion defining a proximal end. The cartridge also includes one of the first and second plates defining a first outer edge. The cartridge also includes the inner plate defining a second outer edge, the second outer edge extending beyond the first outer edge defined by one of the first and second plates, the second outer edge having an outward taper from the proximal end to the distal end of the proximal portion, whereby the second outer edge aids in aligning the saw blade cartridge with a surgical device. The saw blade cartridge also includes a guide bar including a distal portion and a proximal portion. The guide bar includes a first plate, a second plate, and an inner plate partially disposed between the first plate and the second plate. The inner plate may include a swivel surface. The cartridge also includes a blade at least partially disposed between the first plate and the second plate. The blade may be included. The cartridge also includes a blade body including a proximal end and a distal end. The cartridge also includes a blade head disposed on the distal end of the blade body, the blade head having teeth formed thereon. The proximal end of the blade body abuts the swivel surface. The cartridge also includes a proximal portion defining a proximal end. The cartridge also includes one of the first and second plates defining a first outer edge. The cartridge also includes the inner plate defining a second outer edge, the second outer edge extending beyond the first outer edge defined by one of the first and second plates. The second outer edge extends beyond the first outer edge defined by one of the first and second plates. The second outer edge has an outward taper from the proximal end to the distal end of the proximal portion. Thereby, the second outer edge aids in aligning the saw blade cartridge with a surgical device.

[0011] In a second aspect, a surgical blade cartridge for use with a surgical manipulator is provided. The cartridge is disclosed. The surgical blade cartridge also includes a first plate. The ridge also includes a second plate. The cartridge also includes an inner plate that defines the swivel surface. The cartridge also includes at least between the first plate and the second plate. It includes partially positioned blades. The cartridge also includes a proximal end and a distal end. Includes the blade body. The cartridge also has a blade located on the distal end of the blade body. Including the blade head, the blade head has teeth formed on the proximal end of the blade body. It is in contact with the rotating surface. The cartridge also has an inner plate that is in contact with the navigation system Determination of at least one of the position and / or orientation of the surgical blade relative to the Tem The cartridge also includes having a standard feature configured to facilitate the first The plate, the second plate, and the inner plate are accessed by the reference feature on the inner plate. This includes being shaped to allow a cess.

[0012] In a third embodiment, a navigation system is used to position the surgical saw blade. A method is disclosed. The method also relates an instrument including a first tracking device to the distal end of the instrument. By inserting through an opening in either the first or second plate This includes positioning the distal end of the device so that it contacts a reference feature on the inner plate. This method also determines the actual location and / or placement of the reference feature based on the positioning step. This includes determining the direction. This method also includes the attachment features of the surgical manipulator and the surgical saw blade. Based on predetermined geometric data corresponding to the relationship between the reference features of the rated feature, the period of the reference feature This method includes determining the expected position and / or orientation of a reference feature. This includes comparing the name and / or orientation with the actual position and orientation of a reference feature.

[0013] In a fourth aspect, a surgical sagittal saw blade cartridge is disclosed. Furthermore, at the distal end of the guide bar, there is at least between the first plate and the second plate. The blade is partially positioned, and the blade includes a proximal end and a distal end. It is positioned on the distal end of the main body and the blade body, and from the distal end of the guide bar It may include an extended blade head, the blade head having teeth formed on it, and there are multiple teeth. The base teeth and the first pilot teeth It may include. The cartridge also has a gap between the first and second plates of the guide bar. Includes at least one drive link that is movably positioned within a defined space, and at least 1 Two drive links have opposite proximal and distal ends, with the proximal end driving the surgical device. It is adapted to be attached to an element, with the distal end connecting to the proximal end of the blade body. This is done so that the reciprocating motion of at least one drive link does not wobble around the pivoting surface. This causes the blade to rotate. The cartridge also has a base tooth, and when the blade rotates, the first It is configured to move along the arc of the first leading tooth, and the first leading tooth moves along the second arc. This includes being configured to move. The cartridge also has a second arc that moves in the same direction as the first arc. This includes being located more distally.

[0014] In the fifth embodiment, the proximal end and the distal end are included, and the swivel surface between the proximal end and the distal end A surgical blade for a sagittal saw blade cartridge defining a surgical blade is disclosed. It also includes a blade body, which includes a proximal end and a distal end, and the blade body rotates around the swivel surface. It is configured to pivot. The blade is also positioned on the distal end of the blade body. This includes a blade head extending from the distal end of the sagittal saw blade cartridge, The head is formed of teeth, and the teeth consist of several basal teeth, a first leading tooth, and a second leading tooth. It may include teeth. The blade also has a third extending between the proximal and distal ends of the blade body. A plane (plane 1) which is oriented approximately perpendicular to the upper surface of the blade body, The main body of the object is divided into two equal parts by a first plane and a second plane (plane 2) perpendicular to the first plane. Then, the blade body is divided into two equal parts, and a second plane defines the upper and lower parts, and the first The intersection line of the first plane (plane 1) and the second plane (plane 2) defines the central axis of the blade body. Furthermore, it intersects the central axis and forms a mirror angle (θ) measured from the second plane (plane 2). It includes a mirror surface (plane 3) configured to face a certain direction. The blade also includes a blade head However, the second leading tooth is a mirror image of the first leading tooth reflected in the mirror surface (plane 3). This includes being configured in such a way.

[0015] In the sixth embodiment, the proximal end and the distal end are included, and the swivel surface between the proximal end and the distal end A surgical blade is disclosed that defines the proximal and distal ends of the surgical blade. Including the blade body, the blade body is configured to pivot around the pivoting surface. The blade also includes a blade head positioned on the distal end of the blade body. The lead head is formed of teeth, which include multiple basal teeth and a first leading tooth. The blade also has a first plane extending between the proximal and distal ends of the blade body. It is oriented roughly perpendicular to the upper surface of the blade body, dividing the blade body into two equal parts. a first plane and a second plane perpendicular to the first plane, dividing the blade body into two equal parts, A second plane defines the first and second parts, and the first leading tooth is relative to the swivel plane. This includes defining the first apex. The blade also has a base tooth that is the second apex relative to the swivel surface. This includes defining the part. The blade also has the first apex of the first leading tooth and the second of the base tooth This includes being located distal to the apex.

[0016] In the seventh aspect, a surgical blade including a blade head is used to cut biological tissue. The law may include leading teeth that extend distally beyond multiple adjacent basal teeth. Another method of separation involves first removing any of the multiple basal teeth before they come into contact with living tissue. The surgical blade is positioned on the target plane relative to the biological tissue so that the guiding tooth comes into contact with the biological tissue. The surgical manipulator is automatically controlled to position itself above the target, and the blade is positioned above the target. Activating a surgical blade using a surgical manipulator while it is on a plane, include.

[0017] In the eighth aspect, a surgical sagittal saw blade cartridge for use with a surgical device The sagitt is disclosed. The surgical sagittal saw blade cartridge also has a distal portion and a proximal portion. Includes a guide bar, which includes a first plate, a second plate, and a first It may include an inner plate positioned between the first plate and the second plate, the inner plate being The swivel plane defines the first opening. The cartridge also has a distal end to the guide bar. and includes a blade at least partially positioned between the first plate and the second plate. The blade then defines a second pivot plane for pivoting around the pivot plane of the inner plate. It has a blade body. The cartridge also has one of the first and second plates. This includes defining the first outer edge of the proximal portion of the guide bar. The cartridge also includes the inner The plate defines the second outer edge of the proximal portion of the guide bar, and the guide bar defines the second outer edge However, it extends beyond the first outer edge defined by one of the first and second plates. The cartridge is also formed to be located in the first opening of the inner plate. The set of the second outer edge of the proximal portion of the guide bar defined by the mouth and the inner plate. The alignment ensures that the saw blade cartridge is axially aligned with the surgical device. This includes being composed of.

[0018] In the ninth aspect, a surgical sagittal saw blade cartridge for use with a surgical device The sagitt is disclosed. The surgical sagittal saw blade cartridge also has a distal portion and a proximal portion. Includes a guide bar, which includes a first plate, a second plate, and a first It may include an inner plate positioned between the first plate and the second plate, the inner plate being The swivel surface, the first opening, and the second opening are defined. The cartridge also guides The longitudinal axis extends between the distal and proximal portions of the bar, and the longitudinal axis is the guide bar It is configured to divide the guide bar into two equal parts. The cartridge is also located at the distal end of the guide bar. The blade is positioned at least partially between the first plate and the second plate. The blade includes a swivel that defines a swivel surface for swiveling around the swivel surface of the inner plate. The cartridge has a main body. The cartridge also has one of the first and second plates as the guide This includes defining the first outer edge of the proximal portion of the dobar. The cartridge also includes the inner pre The guide bar defines the second outer edge of the proximal portion of the guide bar, and the guide bar is such that the second outer edge is Extending beyond the first outer edge defined by one of the first and second plates The cartridge also includes being formed to have a first opening and a second This includes the fact that each of the openings is positioned along the longitudinal axis. The cartridge also The combination of the first and second openings of the inner plate allows the saw blade cartridge to be inserted. This includes being configured to align the ledge axially with respect to the surgical device.

[0019] In the tenth aspect, a surgical blade cartridge for use with a surgical device. The following is disclosed. The cartridge also includes a second plate. The cartridge also includes an inner Including a plate, the inner plate defines the pivot surface, the first opening, and the base The sub-features are the position and / or orientation of the surgical blade relative to the navigation system. It is designed to facilitate the decision of at least one of us. The cartridge also, At least the first or second plate is an access to the reference feature on the inner plate. This includes defining an opening configured to provide a socket. The cartridge also contains The first opening in the side plate is axially aligned with the center of the radius of the pivot plane relative to the surgical device. This includes being configured to be aligned.

[0020] In the eleventh embodiment, a surgical manipulator is used to connect a surgical saw blade through a mounting feature. A method for verifying the effectiveness of the placement of a surgical saw blade on a data point is disclosed. Another method for confirming the sex is to use a navigation system to ensure that the distal tip of the instrument is within the reference range. The installation includes tracking a first tracking device while it is positioned to contact a mark. Furthermore, the navigation system uses tracking steps to determine the actual position of the reference feature. This includes determining the position and orientation. Installation also involves using a navigation system to determine the base This includes comparing the actual location and orientation of the sub-features with the expected location and orientation of the reference features, Expected position and orientation are the mounting characteristics of the surgical manipulator and the reference characteristics of the surgical saw blade. Based on predetermined geometric data corresponding to the relationship between [the two points].

[0021] A twelfth aspect discloses a method for attaching a surgical saw blade to a surgical manipulator. This method also involves the alignment post of the surgical manipulator being the first to position the surgical saw blade. Located in the opening, the connecting post of the surgical manipulator is inside the second opening of the inner plate. This method also includes positioning the internal plate so that it is located in a specific position. Slide it proximally toward the lattice, and each of the alignment post and connecting post respectively From the proximal position within the first opening and the second opening, respectively, the first opening and the second opening By moving the medial plate to the distal position within each part, the surgical manipulator This includes aligning in the axial direction.

[0022] A thirteenth aspect discloses a method for assembling a surgical sagittal saw. This method is also for surgical The alignment post of the surgical manipulator is positioned at the first opening of the surgical saw blade. Located inside, the connecting post of the surgical manipulator is inside the second opening of the surgical saw blade. By positioning it in a certain way, the surgical saw blade can be attached to the surgical manipulator. This method also includes attaching the surgical saw blade towards the surgical manipulator. Slide them proximal to the side, and each of the alignment post and connecting post will be placed in the first opening. From the proximal position within each of the first and second openings to the distal position within each of the first and second openings This method includes moving the alignment post to the distal position of the first opening. When positioned internally, it is sized to engage simultaneously with the opposing side of the first opening. The surgical saw blade is slid proximally toward the surgical manipulator. This includes aligning the surgical saw blade axially with respect to the surgical manipulator when the surgical saw blade is used. nothing.

[0023] In the 14th aspect, a surgical sagittal saw blade cart for use with a surgical device. The ridge is disclosed. The surgical sagittal saw blade cartridge also has a distal portion and a proximal portion. Includes a guide bar which includes a first plate, a second plate, and a third It may include an inner plate positioned between plate 1 and plate 2, and the inner plate It includes an inner tine that defines the swivel plane. The cartridge also includes the distal portion of the guide bar and It includes a longitudinal axis extending between the proximal portion and the guide bar, and the longitudinal axis bisects the guide bar. It is configured as follows. The cartridge also has a first plate at the distal end of the guide bar. The blade is at least partially positioned between the plate and the second plate, and the blade is It has a blade body that defines a swivel surface for swiveling around the swivel surface of the inner tine. The cartridge also has one of the first and second plates on the proximal portion of the guide bar. This includes defining the first outer edge. The cartridge also has an inner plate that is part of the guide bar. The second outer edge of the proximal portion is defined, and the guide bar is positioned such that the second outer edge is relative to the longitudinal axis. Transversely beyond the first outer edge defined by one of the first or second plates This includes being formed to extend to the first plate and At least one of the two plates is an inner tine, the first plate and / or It is connected to the inner plate by a weld formed between the second plate. include.

[0024] In the 15th embodiment, a saw blade cartridge for use with a surgical device is opened As shown, the saw blade cartridge also includes a guide bar with distal and proximal portions. The guide bar may include a first plate and a second plate, and the first plate may be the second The first plate is connected to the first plate, which includes a rotating surface. The cartridge also has It includes a blade that is at least partially positioned between plate 1 and plate 2, The blade includes a blade body including a proximal end and a distal end, and the distal end of the blade body. A blade positioned on the end and configured to extend from the distal portion of the guide bar. The head may include the blade head, which has teeth formed on it, and the proximal end of the blade body is It is in contact with the rotating surface. The cartridge also includes the proximal portion defining the proximal end. The cartridge also includes the first plate defining the first outer edge. The ledge also includes the second plate defining the second outer edge. The cartridge also The guide bar is configured such that the first outer edge extends beyond the second outer edge. The cartridge also includes the first outer edge being far from the proximal end of the proximal portion of the guide bar. The end portion has an outward taper, thereby the first outer edge being the saw blade cartridge This includes assisting in aligning it with surgical devices.

[0025] In the sixteenth aspect, a saw blade cartridge for use with a surgical device is opened. As shown, the saw blade cartridge also includes a guide bar with distal and proximal portions. Including the guide bar, the first plate, the second plate, and the first plate and the second It may include an inner plate partially positioned between the plates, the inner plate having a pivot surface Define. The cartridge also has at least part between the first plate and the second plate. The cartridge also includes a proximal end and the blade body including the distal end. The cartridge also includes the distal end of the blade body. The blade is positioned on the section and is configured to extend from the distal portion of the guide bar. The blade head includes teeth, and the proximal end of the blade body is swirling. It is in contact with the surface. The cartridge also extends between the distal and proximal portions of the guide bar. The cartridge also includes a longitudinal axis. The proximal portion defines the proximal end. The cartridge also has one of the first and second plates on the proximal portion of the guide bar. This includes defining the first outer edge of the cartridge. The cartridge also has an inner plate, which is a guide bar. - is configured to define a second outer edge of the proximal portion, and the second outer edge is the first It extends beyond the first outer edge defined by one of the second plates. This includes the following.

[0026] In the 17th aspect, a saw blade cartridge for use with a surgical device is opened As shown, the saw blade cartridge also includes a guide bar with distal and proximal portions. Including the guide bar, the first plate, the second plate, and the first plate and the second It may include an inner plate partially positioned between the plates, the inner plate having a pivot surface It is configured to define. The cartridge also consists of a first plate and a second plate. The cartridge also includes a guide bar - Includes a longitudinal axis extending between the distal and proximal portions. The cartridge also includes a proximal The portion includes defining the proximal end. The cartridge also includes first and second plates The cartridge also includes defining the first outer edge of the inner plate This defines the second outer edge, and the second outer edge is defined by one of the first and second plates It extends beyond the first defined outer edge, and the second outer edge is the proximal end of the proximal portion. It has an outward taper from the part to the distal end, and as a result the second outer edge is a saw blade car This includes assisting in aligning the cartridge with the surgical device. The cartridge also, The internal plate allows the position of the surgical blade and / or Further includes a reference feature configured to facilitate the determination of at least one of the orientations. This includes obtaining. The cartridge also contains a smaller portion of either the first plate or the second plate. At the very least, one side is shaped to provide access to the reference features of the inner plate. This includes being present.

[0027] In the 18th aspect, a surgical saw system is disclosed. The surgical saw system also includes a mount Includes surgical devices including a mount, the mount defines the mounting surface, the mount has connecting posts, and may include alignment posts. The system may also be detachably mounted to the surgical device. Includes connectable saw blade cartridges, the saw blade cartridges have a distal portion and It may include a guide bar including a proximal portion, the guide bar having an inner plate defining the swivel surface, It may include one opening and a second opening. The system also includes at the distal end of the guide bar. The blades are positioned to rotate around the swivel surface of the inner plate. The system has a blade body that defines the swivel plane. The system also has a first opening that is mounted It is sized to receive and slidably engage with the alignment post, and the saw blade The system includes aligning the radar cartridge axially with respect to the surgical device. Furthermore, the second opening is sized to receive the mounting posts. This includes detachably connecting a saw blade cartridge to a surgical device.

[0028] In a 19th aspect, a surgical saw system is disclosed. The surgical saw system also includes a mount Includes a surgical device including a mount, the mount defines the mounting surface, and the mount is above the mounting surface A first wall and a second wall extending in the same direction, located on the opposite side of the longitudinal axis of the mount. It is designed to facilitate the alignment of the saw blade cartridge along the longitudinal axis. The first and second walls are tapered with respect to the longitudinal axis of the t, and the first and second At least one tab positioned on each of the walls, and each of the at least one tab At least one t is positioned above the mounting surface and extends to cover it. The system may also include a saw that can be detachably attached to the mount of a surgical device. The saw blade cartridge includes a distal portion and a proximal portion. The system may include a guide bar, and the guide bar is a first plate, a second plate, and a first It may include an inner plate partially positioned between the plate and the second plate. The method also includes the fact that one of the first and second plates defines the first outer edge. The system is also configured such that the inner plate defines the second outer edge, The outer edge of 2 is defined by the first outer edge of one of the first and second plates. It extends beyond the second outer edge of the inner plate. The lower surface of at least one tab engages with the upper surface of the inner plate. include.

[0029] A 20th aspect is a saw blade cartridge for use with a surgical device. The guide cartridge also includes a guide bar, which includes a distal portion and a proximal portion. - may include a first plate and a second plate. The cartridge also includes the first plate Includes a blade at least partially positioned between the to and the second plate. The blade also includes a blade body with a proximal end and a distal end. The cartridge also includes a blade It is positioned on the distal end of the guide body and is configured to extend from the distal portion of the guide bar. The blade head is formed, and the blade head has teeth formed on it. The dove defines one or more holes to allow the fragments to escape.

[0030] In the 21st aspect, a saw blade cartridge for use with a surgical manipulator A method for manufacturing a blade is disclosed. This method also involves the blade head of a saw blade cartridge. Forming one or more holes in the blank material piece that will become the blank, and machine the blank The blank is processed and the location of one or more holes and / or positions is determined by the location on the blank. This includes forming one or more teeth.

[0031] In the 22nd aspect, a surgical sagittal saw blade cart for use with a surgical device. The ridge is disclosed. The surgical sagittal saw blade cartridge also has a distal portion and a proximal portion. Includes a guide bar containing minutes, and the guide bar may include a first plate, a second plate, One of the first and second plates defines the pivoting member. The cartridge also has a gas The guide bar includes a longitudinal axis extending between the distal and proximal portions, and the longitudinal axis is a guide bar. The guide bar is configured to be divided into two equal parts. The cartridge also includes the distal end of the guide bar. In this, a bracket is at least partially positioned between the first plate and the second plate. The blade includes a blade body that defines a swivel surface for swiveling around the swivel surface. The cartridge also has the first outer edge of the proximal portion of the guide bar and The guide bar has a second outer edge at the proximal portion, and the guide bar has a second outer edge at the first outer edge This includes being formed to extend beyond the part. The cartridge also includes a swivel member One of the defining plates has a first opening positioned along the longitudinal axis. This includes the following: The cartridge also has a combination of a first opening and a second outer edge. The saw blade cartridge is configured to be aligned axially with respect to the surgical device. This includes the fact that...

[0032] In the 23rd aspect, a surgical sagittal saw blade cart for use with a surgical device. The ridge is disclosed. The surgical sagittal saw blade cartridge also has a distal portion and a proximal portion. Includes a guide bar containing minutes, and the guide bar may include a first plate, a second plate, One of the first and second plates defines the pivoting member. The cartridge also has a gas The guide bar includes a longitudinal axis extending between the distal and proximal portions, and the longitudinal axis is a guide bar. The guide bar is configured to be divided into two equal parts. The cartridge also includes the distal end of the guide bar. In this, a bracket is at least partially positioned between the first plate and the second plate. The blade includes a blade body that defines a swivel surface for swiveling around the swivel surface. The cartridge also has the first outer edge of the proximal portion of the guide bar and The guide bar has a second outer edge at the proximal portion, and the guide bar has a second outer edge at the first outer edge This includes being formed to extend beyond the part. The cartridge also has a second outer edge The part is configured to align the saw blade cartridge axially with respect to the surgical device. This includes the part written.

[0033] In the 24th aspect, it is used in conjunction with a surgical device and a surgical alignment tool. A saw blade cartridge for alignment using a navigation system is disclosed. The saw blade cartridge also includes a guide bar, which includes a distal section and a proximal section. The guide bar is connected to the first plate, the second plate, and the first plate and the second plate. It may include an inner plate partially positioned between the first and second plates. One side defines an opening to provide access to the surface of the inner plate, and the opening It is shaped to define a first region and a second region, where the first region is the second Having a size of 1, configured to accept the insertion of an alignment tool, and a second territory The area has a second size which is smaller than the first size, and the alignment tool is guided by the guide bar. It is configured to be positioned on a reference feature on the inner plate. The blade is also positioned at least partially between the first plate and the second plate. Includes code.

[0034] In the 25th aspect, a saw blade cartridge for use with a surgical device is opened As shown, the saw blade cartridge also includes a guide bar with distal and proximal portions. Including the guide bar, the first plate, the second plate, and the first plate and the second It may include an inner plate partially positioned between the plates, the inner plate having a pivot surface It is configured to define. The cartridge also consists of a first plate and a second plate. The cartridge also includes a blade positioned at least partially between the two. and the blade body including the distal end. The cartridge also includes the distal end of the blade body. The blade is positioned on the section and is configured to extend from the distal portion of the guide bar. The blade head includes teeth, and the proximal end of the blade body is swirling. It is in contact with the surface. The cartridge also has an inner plate surface that attaches to and detaches from the surgical device. This includes defining contact points for possible engagement. The cartridge also includes first and second One of the two plates is shaped to provide access to the contact point on the inner plate. The shape is set so that the contact points on the inner plate are connected to the saw blade cartridge. This includes assisting in the alignment of surgical devices.

[0035] In the 26th aspect, a surgical sagittal saw blade cart for use with a surgical device. The ridge is disclosed. The surgical sagittal saw blade cartridge also has a distal portion and a proximal portion. Includes a guide bar which includes a first plate, a second plate, and a third It may include an inner plate positioned between plate 1 and plate 2, and the inner plate The swivel plane defines the first opening. The cartridge is also located at the distal end of the guide bar. The blade is positioned at least partially between the first plate and the second plate. The blade includes a second swivel surface for swiveling around the swivel surface of the inner plate. The cartridge also has a blade body. This includes defining the first outer edge of the proximal portion of the guide bar. The cartridge also includes The side plate defines the second outer edge of the proximal portion of the guide bar, and the guide bar is the second outer edge The portion extends beyond the first outer edge defined by one of the first and second plates. This includes being formed to extend. The cartridge also includes the first of the inner plates The opening and the second outer edge of the proximal portion of the guide bar defined by the inner plate At least one of us will orient the saw blade cartridge toward the surgical device. This includes being composed of seaweed.

[0036] In some of the implementation configurations described above, the guide bar has a distal and proximal portion. The longitudinal axis extending between the two parts can be further defined, and the second outer edge is on the first outer edge The first taper angle with respect to the longitudinal axis between point A and point B is defined, and the second outer edge is B Define the second taper angle with respect to the longitudinal axis between the second point and the third point on the outer edge of 2. The first point is closer to the proximal end of the cartridge than the third point, and the second point is closer to the first It is positioned between the first point and the third point.

[0037] In some of the implementation forms described above, the second outer edge is connected to a third point on the second outer edge. This defines a third taper angle with respect to the longitudinal axis between point 4.

[0038] In some of the implementation forms described above, the swivel surface may include an arc-shaped surface, and the blade body The proximal end defines a recess that contacts the swivel surface, thereby the blade body When the body is activated, it rotates around the pivot plane defined by the inner plate. It is composed of.

[0039] In some of the implementation configurations described above, the inner plate is a surgical device that connects the guide bar to the surgical device. A slot configured to be aligned axially with respect to the axial slot can be further defined. The slot can be oriented so that its longitudinal axis is parallel to the longitudinal axis of the guide bar. .

[0040] In some of the implementation forms described above, at least one of the plates is a navigation This system facilitates the determination of the position and / or orientation of surgical blades. The standard features configured in this way can be defined, and the inner plate uses a navigation system. Reference features configured to facilitate the determination of the position and / or orientation of surgical blades. It also includes.

[0041] In some of the implementation forms described above, the reference feature is an optical marking, a recess, or Selected from the group including holes, the reference feature includes multiple laser markings, and multiple laser markings At least one of the kings is located on each side of the longitudinal axis.

[0042] In some of the implementation configurations described above, one of the first plate or the second plate At least one of them is shaped to provide access to the reference features of the inner plate. The reference features are defined by the first plate, which is defined by one of the first and second plates. The surface of the inner plate exposed by the second outer edge of the inner plate that extends beyond the outer edge It is positioned on a surface.

[0043] In some of the implementation configurations described above, the reference feature is one of the saw blade cartridges. It includes multiple characteristics and identifies the saw blade cartridge to the navigation system. It is configured to have the following characteristics: blade type, blade thickness of blade head, and Less than the tooth configuration of the guide head, the length of the guide bar, and / or the width of the guide bar It must include at least one.

[0044] In some of the implementation forms described above, surgical manipulators and / or surgical devices A vise is used for handheld tools, robotic arms, or handheld robots. There is one.

[0045] In some of the implementation configurations described above, the guide bar has a second outer edge that is part of the guide bar. The first and second plate capsules are located along the longitudinal axis extending between the distal and proximal portions. Further formed so as to extend laterally beyond the first outer edge defined by one of the two sides It is being done.

[0046] In some of the implementation configurations described above, the inner tine further defines the first opening, and the The opening of 1 is configured to align the rotating surface with respect to the surgical device.

[0047] In some of the above-described implementation configurations, the first opening of the inner plate and the inner plate At least one of the second outer edges of the proximal portion of the guide bar defined by the mark The saw blade cartridge is configured to be oriented toward the surgical device, An idbar can be constructed.

[0048] In some of the implementation configurations described above, the surface of the inner plate is detachable from the surgical device. To define contact points for possible engagement, one of the first and second plates is on the inside. It is shaped to provide access to the contact points on the plate, thereby allowing internal The contact points on the side plate help align the saw blade cartridge with the surgical device. To support.

[0049] In some of the implementation configurations described above, the guide bars are located between the first and second plates. One side defines an opening to provide access to the surface of the inner plate. The opening may be configured such that it defines a first region and a second region. The first region has a first size and is configured to accept the insertion of an alignment tool. The second region has a second size that is smaller than the first size, and the alignment is The rod is configured to position the guide bar and / or reference features on the inner plate. It is.

[0050] In some of the implementation configurations described above, the blade head is designed to allow fragments to escape, and One that can be used as a reference point when manufacturing a blade or other object. Alternatively, multiple holes can be defined.

[0051] Any of the above embodiments can be combined, either entirely or partially. Any feature of the above embodiments can be combined, either entirely or partially. Any of the above-described implementation forms for the aspect can be combined with any other aspect. This is possible. Of the implementation forms described above, is any of them for the same purpose, or Whether or not it is intended for a different form, it can be combined with any other implementation. It can be done.

[0052] The present invention is specifically described in the claims. The above-mentioned and further features of the present invention The advantages and benefits can be understood from the following detailed explanation in conjunction with the attached drawings. [Brief explanation of the drawing]

[0053] [Figure 1] This is a top view of the first configuration of a saw blade cartridge, which includes a distal portion having a single taper. [Figure 2]Figure 1 is a top view of the distal portion of a saw blade cartridge, including a first configuration of the saw blade, the saw blade of the first configuration including a blade head having a plurality of base teeth and two lead teeth. [Figure 3] Figure 1 is a side view of the saw blade cartridge. [Figure 4] Figure 1 is a side view of the distal portion of the saw blade cartridge, showing the lateral profile of the blade head and leading teeth. [Figure 5] Figure 1 is a top view of the blade head of the first configuration of the saw blade of the saw blade cartridge, the blade head including two lead teeth configured to be located proximal to the central axis away from the saw blade and extending distal to the base teeth of the blade head. [Figure 6] Figure 1 is a front view of the blade head of the saw blade cartridge. [Figure 7] Figure 1 is a front view of the blade head of the first configuration of the saw blade in a saw blade cartridge, showing the frontal profiles of the base teeth and lead teeth. [Figure 8] Figure 1 is a top cross-sectional view showing the internal features of a saw blade cartridge. [Figure 9] Figure 1 is an exploded assembly diagram of the saw blade cartridge. [Figure 10] Figure 1 is a front perspective view of the distal portion of the saw blade cartridge. [Figure 11] Figure 1 is a side perspective view of the distal portion of the saw blade cartridge. [Figure 12] Figure 1 is a top view of the distal portion of a saw blade cartridge, including a second configuration of the saw blade, the second configuration of the saw blade including a blade head having a plurality of base teeth and a single lead tooth. [Figure 13] Figure 12 is a top view of the blade head of a second configuration of a saw blade, the blade head including a single leading tooth configured to be located proximal to the central axis away from the saw blade and extending distal to the base teeth of the blade head. [Figure 14]Figure 12 is a front view of the blade head of the second configuration of the saw blade, showing the frontal profiles of the base teeth and leading teeth. [Figure 15] Figure 12 is a side view of the distal portion of the second configuration of the saw blade, showing the side profile of the blade head and leading teeth. [Figure 16] This is a top view of a second configuration of a saw blade cartridge, which includes a distal portion having multiple tapers, and a third configuration of a saw blade, which includes a blade head having multiple base teeth and a single leading tooth. [Figure 17] Figure 16 is a side view of the saw blade cartridge. [Figure 18] Figure 16 is a side view of the distal portion of a saw blade cartridge, showing the side profile of the blade head including a single leading tooth. [Figure 19] Figure 16 is a top view of the distal portion of the saw blade cartridge. [Figure 20] Figure 16 is a top view of the blade head of a second configuration of a saw blade, the blade head including a single leading tooth configured to be located proximal to the central axis away from the saw blade and extending distal to the base teeth of the blade head. [Figure 21] Figure 16 is a front view of the blade head of the third configuration of the saw blade in the saw blade cartridge, showing the frontal profiles of the base teeth and lead teeth. [Figure 22] Figure 16 is a side perspective view of the distal portion of the saw blade cartridge. [Figure 23] Figure 16 is a top cross-sectional view showing the internal features of a saw blade cartridge. [Figure 24] Figure 16 is an exploded assembly diagram of the saw blade cartridge. [Figure 25] A perspective view of an exemplary configuration of a mount for a saw blade cartridge. [Figure 26] Figure 24 is a top view of the mount for the saw blade cartridge. [Figure 27] Figure 24 is a front perspective view of the mount for the saw blade cartridge. [Figure 28] Figure 24 is a perspective view of the saw blade cartridge shown in Figure 1 mounted on the mount. [Figure 29] Figure 24 is a top view of the saw blade cartridge shown in Figure 1, mounted on the mount. [Figure 30] Figure 24 shows a rear perspective view of the saw blade cartridge shown in Figure 1 mounted on the mount, illustrating the interaction between the mounting features of the proximal portion of the saw blade cartridge and the mount. [Figure 31] Figure 24 shows a perspective view of a cross-sectional view of the saw blade cartridge from Figure 1 mounted on the mount, illustrating how the internal features of the saw blade cartridge interact with the mount. [Figure 32] Figure 24 is a perspective view of the saw blade cartridge shown in Figure 1, mounted on a mount, the mount being connected to a surgical robot used to operate the saw blade cartridge. [Figure 33] Figure 1 is a top view of the saw blade cartridge, which includes a fourth configuration of the saw blade and an inner plate containing multiple reference features. [Figure 34] Figure 34 is an exploded assembly diagram of the saw blade cartridge. [Figure 35A] Figure 33 is a top view of the distal portion of a saw blade cartridge, including a fourth component of the saw blade, the saw blade of the fourth component includes at least one hole within the saw blade. [Figure 35B] Figure 33 is a top view of the distal portion of a saw blade cartridge, including a fifth component of the saw blade, the saw blade of the fifth component including a plurality of holes within the saw blade. [Figure 36] Figure 33 is a top cross-sectional view showing the internal features of a saw blade cartridge, including a blade with holes and an inner plate containing reference features. [Figure 37] A top view of a saw blade cartridge of Figure 1, including a second configuration of a guide bar which includes an opening in at least one of a first plate or a second plate, wherein the opening is sized and / or shaped to guide an alignment tool to a reference feature on the guide bar. [Figure 38] Figure 37 is an exploded assembly diagram of the saw blade cartridge. [Figure 39] A top view of a saw blade cartridge of Figure 1, including a third configuration of a guide bar which includes an opening in at least one of a first plate or a second plate, wherein the opening is sized and / or shaped to guide an alignment tool to a reference feature on the guide bar. [Figure 40] Figure 39 is an exploded assembly diagram of the saw blade cartridge. [Modes for carrying out the invention]

[0054] Figures 1 to 11 show the first configuration of the blade cartridge 10. A sagitt is a sagittal blade cartridge, a surgical blade cartridge, or a cartridge. It can also be called a blade cartridge 10. The blade cartridge 10 may be equipped with a guide bar 11. 1 also includes a first plate 12, a second plate 14, and a third plate 16. It may include multiple plates 12, 14, and 16. The guide bar 11 is connected to the third plate 16 It may be configured to be positioned between the first plate 12 and the second plate 14. Therefore, the first plate 12 may also be called the bottom plate, and the second plate 14 is the top plate. The third plate 16 may be called a plate, and the inner plate, central plate, inner member, The central layer and / or central member may be referred to as the central layer and / or central member. The guide bar 11 is arranged in layers in a laminated plate type arrangement. Although it is shown to include only three plates, the guide bar 11 can be any number It is intended to include plates and / or layers.

[0055] Overall, the plate has a guide bar 11 at the proximal end 1 of plates 12, 14, and 16. It is formed to have a proximal portion 18 that forms 8A, 18B, and 18C. - The proximal portion 18 of 11 initially moves outward as it moves distally along the guide bar 11. It has a taper, and then ultimately moves further distally along the guide bar 11. It may be configured to have an inward taper as it moves. Proximal portion 18 of guide bar 11 The outward taper is a mounting feature for the saw blade cartridge 10, which is used in surgical robots. Alternatively, it can be attached to and / or fixed to a surgical manipulator 301, such as a medical handpiece. It can be configured to help determine the third play. For example, as shown in Figure 1 The opposing outer edges on both sides of the proximal portion 18B of plate 16 are the first and / or second plate 1 2, 14 may extend beyond the opposing outer edges 36, 86 on both sides of the proximal portions 18A, 18C. The total length of the opposing outer edges of the proximal portion 18B of the third plate 16 is the same as the first and / or the opposing portions defined by the proximal portions 18A, 18C of the second plates 12, 14 It is intended that it may extend beyond the outer edges 36, 86. Alternatively, the guide bar -11 is that only a portion of the opposing outer edges of the proximal portion 18B of the third plate 16 is the first and / or defined by the proximal portions 18A, 18C of the second plates 12, 14 It is also intended that it may be configured to extend beyond the opposite outer edges 36, 86. For example, referring again to Figure 1, the opposing outer edges of the proximal portion 18B of the third plate 16 Only a portion of the first and / or second plates 12 and 14, the proximal portions 18A and 18C It extends beyond the opposite outer edges 36, 86 defined by the figure. However, of the proximal portions 18A and 18C of the first and / or second plates 12 and 14 One or both of these apply to a portion of the proximal portion 18B of the third plate 16 to a surgical manipulator. Engaged by the mount 303 of the lattice 301 and / or exposed to contact it. The proximal portions 18A, 18C of the first and / or second plates 12, 14 are brought out. A recess is defined within the edges 36, 86, or a cut is defined within the outer edges 36, 86 It is further intended that the shape may be configured to include the out. Also, the first and / or One of the outer edges 36, 86 of the proximal portions 18A, 18C of the second plates 12, 14 The proximal portion 18B of the third plate 16 is then manipulated by the surgical manipulator 301. Shaped to be engaged by and / or exposed to contact with 303. It is also intended that the configuration may be set in this way. In this configuration, the first and / or second plate 1 2. The other of the outer edges 36 and 86 of the proximal portions 18A and 18C of 14 is the third plate The size is roughly set to mimic the size and shape of the outer edge of the proximal portion 18B of 16. The proximal portions of the first and / or second plates 12, 14 may be shaped. The proximal portion of the third plate 16 extending beyond the opposing outer edges 36 and 86 of 18A and 18C The opposing edges of portion 18B are such that the outer edge of the proximal end 18B of the third plate is a surgical manifold. The purpose of mounting and / or aligning the saw blade cartridge 10 to the pulator 301. For this purpose, the mounting 303 of the surgical manipulator 301 is in contact with and / or it This can be made possible by becoming part of the interacting guide bar. This is further explained below. It will be explained in detail.

[0056] Referring to Figure 8, the opposing outer edges of the proximal portion 18B of the third plate 16 are, It may include a number of points 39, 41, 43, 45 spaced apart along the outer edge of segment 18. Third Points 39, 41, 43, and 45 along the edge of the proximal portion 18 of plate 16 are located on guide bar 1 Each of the parts 1 may have various degrees of taper with respect to the longitudinal axis L extending from the proximal end to the distal end. The third plate 16 defines multiple segments 40, 42, and 44 at the edge of the proximal portion 18. It can be determined. For example, the edge of the proximal portion 18B of the third plate 16 is the first point 39 and the second It may include a first segment 40 defined between point 41. The first segment 40 is The longitudinal axis L of the guide bar 11 may be approximately parallel. Alternatively, the first segment 40 It may include a first outward taper, thereby the second point 41 being more guy than the first point 39. It is far from the longitudinal axis L of Dobar 11.

[0057] The outer edge of the proximal portion 18B of the third plate 16 is between the second point 41 and the third point 43. It may include a second segment 42 defined as follows. The second segment 42 is a second outward It may include a taper, thereby the third point 43 is longer than the second point 41 in the longitudinal direction of the guide bar 11. It is far from the directional axis L. The outer edge of the proximal portion 18 of the third plate 16 is at the third point 43 It may include a third segment 44 defined between and the fourth point 45. Point 44 may include a third outward taper, thereby the fourth point 45 being greater than the third point 43. It is far from the longitudinal axis L of the guide bar 11. The proximal portion 18B of the third plate 16 The outer edge includes a second segment 42 defined between the second point 41 and the third point 43. The second segment 42 may include a second outward taper, thereby the third point 4 Point 3 is further from the longitudinal axis L of the guide bar 11 than the second point 41. Third plate The proximal portion 18B of 16 is the first, second, and third segments 40, 42, and 44, respectively. The guide bar 11 may be configured to have different tapers with respect to its longitudinal axis L. For example, the first segment 40 may be roughly parallel to the longitudinal axis L, and the second segment 42 The third segment 44 may have a second taper, and the second taper It extends outward at a larger angle with respect to the longitudinal axis L than the third taper. Each of the opposing outer edge segments 40, 42, and 44 of the proximal portion 18B of plate 16 The taper and / or orientation of the saw blade cartridge 10 is connected to the surgical manipulator 3. The angle and / or surface angle of the bracket 317 of the mount 303 for fixing to 01 It can correspond to and / or match them, and this is explained below. This will be explained in more detail.

[0058] The proximal portion 18B of the third plate 16 is opposed to the third segment 44, which is distal to it. The outer edge may further include a fourth segment 47. Opposite outer edges of the proximal portion 18B The fourth segment 47 is configured to be approximately parallel to the longitudinal axis L of the guide bar. Furthermore, the fourth segment 47 of the opposing edge of the proximal portion 18B is the guide bar 11 It may be tapered outward as it moves distally along the guide bar, or It is also intended that the material may be tapered inward as it moves distally along 11. The proximal portion 18B of the third plate 16 is opposed to the fourth segment 44, which is distal to the fourth segment 44. It may further include a fifth segment 49 of the edge portion. Segment 49 tapers inward as it moves distally along the guide bar 11. It can be configured to be attached.

[0059] The central and distal portions 20 are located anterior to the proximal portion 18 of the guide bar 11. 12, 14, and 16 are roughly the opposite sides of the guide bar that forms the side of the central part. They are formed to be parallel. The opposing sides of the distal portion 20 of the guide bar 11 are structured Depending on the configuration, it may be tapered. As shown in the figure, the distal part of the guide bar 11 The opposing edges 32 and 99 of parts 20A, 20B, and 20C are plates 12, 14, and 1 6 may be tapered inward toward the center. Also, the distal portion 20 of the guide bar 11 It is also intended that the opposing edges of A, 20B, and 20C may be roughly parallel to each other. The width of the guide bar 11 over the central and / or distal portion 20 is the width of the guide bar 11 proximal to the distal portion The width of the proximal portion 18 at the widest point between the opposing edges of portion 18 may be less than the width of the proximal portion 18.

[0060] Each of the proximal portions 18 of plates 12, 14, and 16 has two laterally spaced openings. 22, 88 (one of which is identified) may further be included. As shown in the figure, the first P The plate may include a pair of openings 22, and the second plate 14 may include a pair of openings 88. Plate 16 of 3 may define an opening, or, depending on the shape of plate 16, It does not need to be determined. As shown in the figure, the third plate 16 is the first and second plate Channels 50A and 50B are defined in cooperation with openings 22 and 88 defined within sections 12 and 14. The shape is set to be fixed. The plate is inside the first and second plates 12, 14 A pair of openings 22, 88 defined by the third plate 16, and a cha Although it is shown to include a pair of Nell 50A and 50B, the guide bar 11 is on plate 22 , a single opening in each of 88, and defined in each of plates 12, 14, and 16 It is intended that more than two openings 22, 88 may be formed. 8 may be formed to have a semi-elliptical shape. Each opening 22, 88 is a plate 12, The curved portion towards the proximal end of 14 and 16, and the straight section towards the distal end of guide bar 11. It has a part.

[0061] In front of the openings 22, 88, at least one of plates 12, 14, 16 It can be configured to define keyhole-shaped openings 26, 52, and 90, as shown in the figure. The first plate 12 can define a keyhole-shaped opening 26, and the second and third plates 14, 16 defines openings 52 and 90 that cooperate with the keyhole-shaped opening 26 of the first plate 12. The figure shows only the first plate 12 having a keyhole-shaped opening 26, but One, two, or all three of the rates 12, 14, and 16 are keyhole-shaped openings 26, 5 2, It is intended that 90 can be defined. For example, the third plate 16 has a keyhole-shaped opening 5 2 can be defined, and the first and second plates 12, 14 may be square, circular, oval, or It is intended that general openings 26 and 90, such as openings of similar shape, can be defined. Referring to 9, the keyhole-shaped opening 26 is the widest part of the opening 26, the saw blade car Shaped to accommodate mounting fastening features for the tridge 10 The openings 26, 52, and 90 defined within each plate 12, 14, and 16 are It can be located in the center between the opposing edges of the side bar 11, thereby creating openings 26, 52 , 90 is such that the longitudinal axis L divides the guide bar 11 into two equal parts at the proximal end 1 of the guide bar 11 It is located on the longitudinal axis L that extends between 8 and the distal end 20. Keyhole-shaped opening. Furthermore, the narrower portion of the opening 26 is distal to and anterior to the wider portion of the opening 26. It is formed to be positioned such that the fastening feature 305 of the mount 303 slides within the opening 26. It can make it possible to id.

[0062] The guide bar 11 is configured for aligning and / or mounting the saw blade cartridge. distal to the keyhole-shaped openings 26, 52, and 90, the first, second, and / or third The plates 12, 14, and 16 further include additional openings 28, 54, and 92 formed within them. It is possible. For example, each of the first, second, and / or third plates 12, 14, and 16 This allows for the definition of openings 28, 54, and 92 having their centers on the longitudinal axis L of the guide bar 11. As shown in the figure, openings 28, 54, and 92 are keyhole-shaped openings 26 on the guide bar 11. , 52, 90 may be located distal to them. However, the openings 28, 54, 92 are It may also be positioned on the guide bar 11 proximal to the keyhole-shaped openings 26, 52, and 90. The openings 28, 54, and 92 are intended for use with surgical robots or handpieces. For aligning and / or mounting the saw blade cartridge 10 onto the nipulator 301 It can be configured. Each of the openings of the first, second, and / or third plates 12, 14, 16 The openings 28, 54, and 92 are connected to the first, second, and / or third plates 12, 14, and 16. When stacked on top of each other, the openings are roughly aligned and / or concentric with each other. On each of the plates 12, 14, and 16, define a through hole that passes through the guide bar 11. They can be oriented and / or positioned. The openings 28, 54, and 92 are circular and oval. They can be formed as squares, rectangles, or other similar shapes. Furthermore, each The openings 28, 54, and 92 define different shapes within their respective plates 12, 14, and 16. It is also intended that openings of different sizes may be defined. Surgical manipulator For the purpose of aligning the saw blade cartridge 10 within the regulator 301, the opening Only one of 28, 54, or 92 may be required. Therefore, openings 28, 54, Only one of the 92 is the alignment of mount 303 (described in more detail below). It is required to be sized and / or shaped to engage with feature 309. Obtained. At this time, the remaining openings 28, 54, and 92 that do not engage with the alignment feature 309 are openings. 28, 54, and 92 do not contact, and / or engage with, alignment feature 309. This does not interfere with the openings 28, 54, and 92 that are sized and / or shaped accordingly. The size and / or shape can be set so as to prevent this. For example, as shown in Figure 1. The combinations of openings 28, 54, and 92 within each plate 12, 14, and 16 are: It can be seen that a through hole is defined that penetrates the guide bar 11. However, the third play The opening 54 in plate 16 is wider than the openings 28 and 92 of the first and second plates 12 and 14. It can also be seen that it is defined to be slightly smaller (in Figure 1, the third plate 16 Only the opening 54 can be seen as being smaller than the opening 92 of the second plate 92. ). In this exemplary configuration of the guide bar 11, the opening 54 of the third plate 16 is the saw bar For the purpose of orienting the razor cartridge 10 toward the surgical manipulator 301, It is configured to engage with the alignment feature 309 of the mount 303, and the first and second pre The openings 28 and 92 of parts 12 and 14 do not come into contact with the aligned feature 309, and / or or so as not to hinder the ability of the 16 openings 54 of the third plate to engage with the alignment feature 309 The size and shape are set as described above. 4 is sized and / or shaped to engage with the alignment feature 309 of mount 303 Although it is shown as specified, any of the openings 28, 54, and 92 may be It can be sized and / or shaped to engage with column feature 309.

[0063] The guide bar 11 is optionally positioned distal to the keyhole-shaped openings 26, 52, and 90. Formed within the first and / or second plates 12, 14, for surgical navigation For verification and / or alignment of the saw blade cartridge 10 using the system It may further include additional openings 30, 94 configured as follows: for example, the first and / or At least one of the two plates 12 and 14 is on the longitudinal axis L of the guide bar 11 It has a center, and the first and second plates 12 and 14 align when stacked on top of each other. Openings 30, 94 are defined as oriented and / or positioned as shown. The first and / or second plate 12 is defined within the third plate 16. It may include openings 30, 94 configured to provide access to feature 56. Feature 56: Verification of the orientation of a saw blade cartridge using a surgical navigation system. and / or within the third plate 16 configured as a known contact point for alignment It may include a hole defined by . The criterion feature 56 may include a triangular-shaped hole, thereby, three The three edges of the hole defining the corner are used to touch off on the reference feature 56. It serves to position the lobe or similar device centrally. The reference feature 56 is circular. The holes are intended to include square, rectangular, or other similar polygonal shapes. Alternatively, the criterion feature 56 may include a depression defined within the surface of the third plate 16. This is a third plate accessible through an opening 30 in the first plate 12. A recess on the first surface and / or an opening 94 defined within the second plate 14 This may include a depression on the second surface of the third plate that is accessible through it. Criterion feature 56 is intended to include markings. The markings are etched. This can be implemented as color, notches, or similar optical markings. Reference feature 56 is a guide bar -11 may have its center on the longitudinal axis L.

[0064] As described above, the proximal portion 18 of the third plate 16 is connected to the surgical manipulator. Multiple Includes a number of mounting features and / or contact points. Therefore, defined on the third plate 16 Having a designated criterion feature 56 means that the surgical navigation system Verification of the saw blade cartridge 10 used and / or improvement of alignment accuracy. It can bring advantages. Furthermore, the saw blade cartridge 10 has multiple standard features 56. is contemplated. Refer to FIGS. 33 and 34, which are described in more detail below. is desired.

[0065] It should be understood that the dimension of the reference feature 56 has a predetermined dimensional relationship with one or more mounting features. This enables the above-described alignment and / or verification using a surgical navigation system. The predetermined dimensional relationship is stored on the memory unit of the surgical navigation system and can be compared with the measured relationship as determined by a tracking pointer that positions the distal end at the reference feature. The alignment verification step can be performed by confirming that the reference feature 56 within the locator coordinate system is in the expected position. and / or verification. The third plate 16 is formed to have a proximal portion 18B of the plate, as best seen in FIGS. 8 and 9. A pair of laterally spaced tines 46A, 46B extends forward from the proximal portion 18B of the third plate 16. The tines 46A, 46B can be referred to as outer tines. The outer surfaces of the tines 46A, 46B are the outer surfaces of the third plate 16 that form a section of the outer side surface of the guide bar 11. Therefore, the outer tines 46A, 46B extend forward from the proximal portion 18B and have a proximal section that tapers first outward and then inward as it moves distally along the third plate 16. The outer tines 46A, 46B are symmetrically positioned with respect to the longitudinal axis L of the guide bar 11. The outer tines 46A, 46B can be further shaped to be mirror images of each other, mirrored with respect to the longitudinal axis L. Additionally, the outer tines 46A, 46B are and and as follows.

[0066] The third plate 16 is formed to have a proximal portion 18B of the plate, as best seen in FIGS. 8 and 9. A pair of laterally spaced tines 46A, 46B extends forward from the proximal portion 18B of the third plate 16. The tines 46A, 46B can be referred to as outer tines. The outer surfaces of the tines 46A, 46B are the outer surfaces of the third plate 16 that form a section of the outer side surface of the guide bar 11. Therefore, the outer tines 46A, 46B extend forward from the proximal portion 18B and have a proximal section that tapers first outward and then inward as it moves distally along the third plate 16. The outer tines 46A, 46B are symmetrically positioned with respect to the longitudinal axis L of the guide bar 11. The outer tines 46A, 46B are the outer surfaces of the third plate 16 that form a section of the outer side surface of the guide bar 11. Therefore, the outer tines 46A, 46B extend forward from the proximal portion 18B and have a proximal section that tapers first outward and then inward as it moves distally along the third plate 16. The outer tines 46A, 46B extend forward from the proximal portion 18B and have a proximal section that tapers first outward and then inward as it moves distally along the third plate 16. The outer tines 46A, 46B are symmetrically positioned with respect to the longitudinal axis L of the guide bar 11. The outer tines 46A, 46B are symmetrically positioned with respect to the longitudinal axis L of the guide bar 11. The outer tines 46A, 46B are symmetrically positioned with respect to the longitudinal axis L of the guide bar 11. The outer tines 46A, 46B can be further shaped to be mirror images of each other, mirrored with respect to the longitudinal axis L. To form the first, second, and third plates 12, 14, and 16 are connected to each other. It can be configured in such a way. For example, the first and second plates 12, 14 are guide bars 1 To form 1, the outer tines 46A and 46B of the third plate 16 are welded, Alternatively, they can be connected in a similar manner. Alternatively, the first and second plates 12, 14 can be used as guides. To form the bar 11, it is welded to the inner tine 48 of the third plate 16, or It is also intended that they may be connected in a similar manner. The first and second plates 12, 14 to the third By welding or similarly connecting the inner tines 48 of plate 16, This aligns and / or orients the guide bar 11 relative to the surgical manipulator. Any interference with the edge of the proximal portion 18 of the third plate 16 that may be used in the event of unintended This can prevent distortion or similar disturbances.

[0067] The areas adjacent to the distal ends of each tine 46A and 46B are aligned with the longitudinal axis L of the guide bar 11. The shape is set to have lobes 60A and 60B that extend inward. As you move along in 46A and 46B from proximal to distal, the associated lobes 60A and 60B first curve inward toward the longitudinal axis L of the guide bar 11, and then It curves outwards.

[0068] The third plate 16 is positioned between the outer tines 46A and 46B, and the guide bar The system may further include a third tine 48 centered on the longitudinal axis L of the 11, and an inner tine. As described above, the inner tine 48 defines an opening 52 which may be a keyhole-shaped opening 52. The inner tine 48 has an opening 52 between the first and second plates 1 2. The openings 26 and 90 of 14 are identical in shape and can be positioned to match. The shape may be set to a uni shape. The inner tine 48 has a constant width except for the distal end of the tine. At its most distal end, the inner tine 48 is curved and configured to define a spiral surface. It may include a head 58 having a distally facing surface. Although not shown in the figure, D58 can define a concave surface configured to receive a rocker or curved surface. It is also intended that the rocker or curved surface rotates within the concave surface defined by the head 58. It is possible. The head 58 may include a center, which is curved and faces distally, defining a swivel plane. The radius of the surface is defined. The center is the same as the opening 54 and reference feature 56 of the third plate 16. As shown, it can be positioned on the longitudinal axis L of the guide bar 11. Align the head 58, the opening 54, and the reference feature 56 along the longitudinal axis L, Alignment and / or positioning of the blade cartridge 10 using the navigation system Alignment, and / or position of the blade cartridge 10 relative to the surgical manipulator. It can help with attachment. The cartridge can be removed through openings such as opening 54 and / or keyhole-shaped opening 52. Features for attaching to and / or aligning with a scientific manipulator, blade It may be advantageous to have the operated head 58 and reference feature 56 on the same axis. This provides better alignment of the blade cartridge 10 with the surgical manipulator. This allows for the use of a blade cartridge 1 in the navigation system. It can also lead to improved tolerances regarding zero alignment. In the provided exemplary configuration of the ridge 10, the opposing edge of the proximal portion 18B of the third plate 16 can be configured as a mounting feature for the saw blade cartridge 10. In an exemplary configuration, all of the various mounting features, alignment features, and navigation alignment features can be located on and / or disposed on the third plate 16. This can result in an improvement in the positioning tolerance and / or repeatability of the blade cartridge 10 with respect to the surgical manipulator, leading to a more accurate identification of the position and, thus, navigation of the blade cartridge 10 during a medical procedure.

[0069] The figure shows inner tines disposed between the outer tines 46A, 46B, but it is contemplated that the third plate 16 can be formed without an inner tine 48 and can include only two outer tines 46A, 46B spaced apart from each other. In such a configuration, the pivot pin can be connected adjacent to the blade head. In other words, although the third plate is shown as having three tines formed as a single component, it is contemplated that the three tines can be formed separately and fixed between the first and second plates.

[0070] The outer tines 46A, 46B are spaced apart from the inner tine 48, such that the third plate 16 defines a pair of elongated closed-end slots 50A, 50B between each of the outer tines 46A, 46B and the inner tine 48. The proximal ends of the slots 50A, 50B are the closed ends of the slots. When the cartridge 10 is assembled, each slot 50A, 50B overlaps a separate one of the openings 22, 88 in the first and second plates 12, 14. The third plate 16 is further arranged in each slot 50A, 50B The proximal end portion has the shape and substantial form of the openings 22 and 88 within the first and second plates 12 and 14. They are formed to have the same shape as the target. Therefore, each slot 50A, 50B The width of the proximal end portion is greater than the width of the distal anterior slots 50A and 50B compared to the proximal portion 18. big.

[0071] The third plate 16 is generally formed as a single, separate, or integrated plate. As shown in the diagram, the third plate 16 has the characteristics of the third plate 16 described above. It can be composed of multiple separate parts arranged to form and / or parts. This is intended. For example, the proximal portion 18 of the third plate 16 is the outer tine 46A, 46 B may be formed as a single component, while the inner tine 48 may be a separate component. Alternatively, The inner tine 48 may be omitted. In yet another exemplary configuration, the third plate 16 The proximal portions 18 of the outer tines 46A, 46B, and the inner tine 48 are all separate parts. It can be formed as follows.

[0072] Referring to Figure 9, the first plate 12 is substantially identical to that of the second plate 14. It is observed that the shape is set to have an outer circumference. However, the first pre One of plate 12 or the second plate 14 is longer / shorter than the other plate. It is also intended that it may be called / or narrow / broad. For example, the second plate 14 The outer circumference of the first plate 12 is narrower than that of the first plate 12, that is, the peripheral edge is in the longitudinal direction It can be constructed to approach axis L. Proximal portions of the first and second plates 12, 14 The distal portion 20 is located anterior to the 18th minute. The distal portions of the first and second plates 12 and 14 The shape is configured to have two openings 24 and 96. They are identical, and the opening 24 of the first plate 12 is in the same position as the opening 96 of the second plate 96. They are positioned so that they fit together.

[0073] The saw blade cartridge 10 has first and second at the distal end of the saw guide bar 11 The system may further include a saw blade 70 positioned between plates 12 and 14. 0 is formed to have a blade body 72 and a blade head 74. Blade 70 is designed so that the blade body has a thickness that is less than or equal to the thickness of the third plate 16. It is formed as follows. The blade body 72 of the saw blade 70 as seen in Figures 8 and 9 Its shape is generally rectangular. However, the peripheral edge 73 of the blade body 72 is tapered. It is intended to be tapered and / or curved. The taper and / or curve is internal. The outer tines of rate 16 are 46A and 46B, and the lobes of rate 60A and 60B are tapered or curved. It can be made to do so. The shape of the blade body is such that the blade body 72 has an inner tine 48 and a head 5 It orbits around 8 and oscillates between the outer tines 46A and 46B and the lobes 60A and 60B. It can be configured to enable this.

[0074] When the saw blade 70 is in the center position within the guide bar 11, the main blade body 72 The axis is aligned with the longitudinal axis L of the guide bar 11. The blade body 72 has two legs 84 It may be shaped to have one leg, and one leg is identified. The leg 84 is on the blade body 72 It has the same thickness. Each leg 84 is in an adjacent slot 50A inside the inner tine 48, 5 It extends to the open end of 0B. Between the legs 84, the blade body 72 is curved, proximal side The blade body 72 is formed to have a surface 80 facing inwards. It is shaped to be seated on the head 58, which is integrated with the in 48, and to be able to rotate around it. The shape is set. The diagram defines the inside of the head 58 for the saw blade to rotate around. The image shows a third plate with tine 48, but the guide bar is the first and second plate. It may be configured to have pins positioned between rates 12 and 14, and a saw blade The D70 is further intended to be configured to revolve around the pin. The base 84 and the blade body 72 are sometimes referred to as the base of the saw blade 70.

[0075] The distal end of the blade body 72 extends distal to the guide bar 11, thereby The blade head 74 extends forward of the distal end of the guide bar 11. The blade 74 has multiple teeth 76, 78 formed on it. The saw blade 70 is further formed on the blade The head 74 is formed to have a greater thickness than the blade body 72. Physically, the blade head 74 is formed by the cutting action of the saw blade 70. The cut surface should be large enough to accommodate the guide bar 11, and the thickness of the guide bar 11 should be greater than the thickness of the guide bar 11. It is formed to have a thickness.

[0076] Referring to Figures 2 to 5, the blade head 74 has two types of teeth, a base tooth 78 and one Alternatively, it may include multiple lead teeth 76. For example, as shown in Figure 2, the blade head 74 It may include two lead teeth 76A, 76B. However, the blade head 74 has a single lead It is intended to include teeth, or more than two leading teeth. Leading teeth 76A and 76B are It may be positioned proximal to the center of the distal surface of the lead head 74. Furthermore, lead teeth 76A, 76 B is the adjacent base tooth 78 of the blade head 74, as is most clearly seen in Figure 5. It may be configured to extend distally beyond a first distance D1. During operation, the leading tooth 76 With teeth A and 76B extending distally beyond the adjacent basal tooth 78, leading teeth 76A and 7 6B vibrates as the adjacent basal tooth 78 vibrates around the second arc distance 75, the first It is configured to vibrate along an arc length of 77, and therefore the first arc length of 77 is It is located distal to the second arc distance of 75.

[0077] Referring to Figures 5 to 7, the saw blade 70 extends from the proximal end to the distal end of the saw blade 70. It may have a central axis C located there. The first plane, plane 1 intersects with the central axis C of the saw blade 70. The saw blade can be oriented to divide it into two equal halves, left and right. The second plane, plane 2 is It intersects with the central axis C of the saw blade 70, dividing the saw blade into two equal parts, upper and lower. They can be oriented. Plane 1 and Plane 2 can be oriented so as to be orthogonal to each other. Leading tooth 76 A and 76B extend distally from the blade head 74, and they are on both sides of plane 1. It can be configured to be positioned in a certain way.

[0078] A third plane, plane 3, may be configured to intersect the central axis C of the saw blade 70. Surface 3 is oriented at a mirror angle θ with respect to either plane 1 and / or plane 2. It is possible. For example, plane 3 is oriented with respect to plane 2 at a mirror angle θ defined thereto. The mirror angle θ is any angle in the range of 20 to 80 degrees when measured relative to plane 2. This is possible. For example, plane 3 may be oriented with respect to plane 2 at a mirror angle θ of 75 degrees. Since the leading teeth 76A and 76B can be mirrored across plane 3, plane 3 is also the mirror surface. It can be called. For example, the second leading tooth 76B is such that it is reflected with respect to plane 3, the mirror plane. The first leading tooth 76A can be oriented to be a mirror image of it.

[0079] Furthermore, in each of the leading teeth 76A and 76B, the adjacent teeth are oriented at opposite angles to each other. Furthermore, it is intended that the patterns may be oriented in a horizontal pattern. For example, refer again to Figures 3 and 4. When illuminated, the blade shows that the leading teeth 76A and 76B are oriented in a lateral pattern. The side profile of head 74 is shown. The first leading tooth 76A is approximately relative to plane 2. The second tip is oriented downwards and is positioned adjacent to the first leading tooth 76A. The guiding tooth 76B is oriented generally upward with respect to plane 2, and the leading teeth 76A and 76B are A V-shaped edge is defined at the distal end of the blade head 74.

[0080] The drive links 62A and 62B are located in the respective slots 50A and 50B inside the guide bar 11. They are positioned as follows. Each drive link 62A, 62B is in the form of an elongated, flat metal strip. The drive links 62A and 62B are such that a foot 64 exists at the proximal end of each link. Each leg 64 is formed to have a centrally located through hole 66. One opening is identified. The through hole 66 is through which the associated drive link leg 64 drives the saw head. The dimensions are set so that they can fit perfectly into the pins. Each drive link 62A, 62B is The leg 64 is greater than the thickness of the metal strip that forms the main body of links 62A and 62B. The shape is set to have a certain thickness. The thickness of the leg 64 is typically the same as the thickness of the guide bar 11. The following applies: When cartridge 10 is assembled, leg 64 is in the associated slot 50A. It is generally seated within the proximal end portion of 50B. Outward from the main body of each link 62A, 62B The protruding leg portion 64 is located in the openings 22, 8 of the first and / or second plates 12, 14. Sit inside 8.

[0081] The drive links 62A and 62B are located far from the distal end of the main body of each drive link 62A and 62B. It may further include two fingers 68 extending forward on the side, one of which is identified. Fingers 68 overlap and are separated from each other. More specifically, Fingers 68 are The blade feet 84 are spaced far enough apart from each other so that they can sit between each pair of fingers. They are spaced apart. Each finger 68 has a hole 82 formed in it. Each pair of holes 8 of finger 68 Numbers 2 are in the correct positions relative to each other.

[0082] As part of the assembly process for cartridge 10, the saw blade 70 is attached to each blade foot. Position 84 so that it is located between the pair of drive link fingers 68. Next, the swivel pin The finger holes 84 and the open blade foot extend through them, and the associated drive ring of the foot 84 The 62A and 62B can be held in a rotatable manner.

[0083] During the assembly of cartridge 10, the third plate 16 is first attached to the first plate 1. Weld or otherwise secure it to plate 2 and / or the second plate 14. After the work is completed, the drive link and blade assembly is assembled, drive link 62A, 6 2B is seated in slots 50A and 50B, with the curved proximal side of blade 70 facing surface 8 0 contacts the curved distal surface of the head 58, which is integrated with the third plate 16. Position it so that it is seated. Next, the second plate 14 and / or the first plate 12 Weld or otherwise secure it to the exposed surface of the third plate 16. Once the assembly process of part 10 is complete, the drive link leg 64 will be attached to the first and second plates. It is seated in the openings 22 and 88 of 12 and 14. The drive link finger 68 is first and The plates 12 and 14 are seated in openings 24 and 96, respectively. The head 74 is positioned just in front of the distal end of the guide bar 11.

[0084] Referring to Figures 10 and 11, the distal portion of the guide bar 11 is inside the second plate 14. It may include a pair of generally oval-shaped openings 98. The figure shows two openings 98. The guide bar may have only one opening or more than two openings. It is intended that it can be constructed in this manner. Furthermore, the opening is, in the figure, the second plate Although shown to be defined within 14, a similar opening is also defined within the first plate 12. It is intended that this can be determined. The opening 98 is the length of the distal portion 20 of the second plate 14. The opening may include curves and / or bends that extend longitudinally along the saw blade. When cartridge 10 is used to cut biological tissue, the first and second plates It may be configured to assist in the removal of debris that may become trapped between 12 and 14.

[0085] The distal portion 20 of the guide bar 11 is also between the first and second plates 12 and 14. It may be formed to define a cutout or slot 38. As shown in Figures 10 and 11. As such, the outer tine 46 of the inner plate 16 is the outermost lobe 60 of the outer tine 46. The distal point is located proximal to the most distal edges of the first and second plates 12 and 14. It is formed in such a way that the saw blade cartridge 10 cuts through biological tissue. Fragments that may be trapped between the first and second plates 12 and 14 when used for this purpose A slot 38 is defined along the side edge of the guide bar 11, which can assist in the removal of the guide bar. The slots 38 along the side edge of -11 increase the range of motion when the saw blade 70 rotates. It can also help to increase the gap. By shortening the length of the outer tine 46, the gap can be increased. This can be brought about, allowing the saw blade to rotate further, and therefore the blade head This increases the distance over which the D74 can vibrate.

[0086] Although not shown in the diagram, the saw blade cartridge 10 has ribs on the outer surface of the guide bar. It is further intended that this may be included. The rib is aligned with the longitudinal axis L of the guide bar 11. Obtain. The ribs are formed separately from the first and / or second plates 12, 14, and cart It can be welded to the rest of Ridge 10 or otherwise permanently fixed in place. This can reduce the bending of the guide bar 11. An exemplary configuration of the saw blade cartridge is international Patent Application No. 2013 / 016472(A1) / U.S. Patent Application Publication No. 2014 / 016355 Disclosed in Article 8. These applications are expressly incorporated herein by reference. To be included.

[0087] Referring to Figures 12 to 15, the second configuration of the saw blade cartridge 110 is shown. It exists. The same basic reference codes increased by 100, i.e., sawtooth blue with 10 and 110. The components and / or features of the second configuration of the radar cartridge 110 are as described above. Please understand that it may operate in a similar or exactly the same way as [another method].

[0088] As described above, the second configuration of the saw blade cartridge 110 is the first plate Multiple plates, including plate 112, a second plate 114, and a third plate 116. The guide bar 111 may have (112, 114, 116). The third plate 116 is positioned between the first plate 112 and the second plate 114. It can be configured to allow the following: First, second, and third plates 112, 114, 116 It is constructed in the same or similar manner as that of the saw blade cartridge 10 described above. However, the configuration of the saw blade cartridge 110 shown in Figures 12 to 15 is a saw blade It is built using 170 alternative configurations.

[0089] Referring to Figure 13, the saw blade 170 extends distal to the guide bar 111. It may include a blade body 172, thereby connecting to the distal end of the blade body 172. The blade head 174 extends forward from the distal end of the guide bar 111. Blade 174 has multiple teeth 176, 178 formed on it. Saw blade 170 is further, The blade head 174 is formed to have a greater thickness than the blade body 172. More specifically, the blade head 174 is involved in the cutting action of the saw blade 170. Therefore, the formed incision is sufficient to receive the guide bar 111. It is formed to have a thickness of -111 or greater.

[0090] The blade head 174 has two types of teeth: a base tooth 178 and one or more leading teeth 17 It may include 6. For example, as shown in Figure 13, the blade head 74 has a single leading tooth 1 It may include 76. As mentioned above, the blade head 174 also has two or more leading teeth. The leading tooth 176 may be positioned proximal to the center of the distal surface of the blade head 174. Furthermore, the leading tooth 176 is located on the blade head 1, as is most clearly seen in Figure 13. 74 extends distally by a second distance D2 beyond the adjacent basal teeth 178A and 178B. It may be configured such that, during operation, the leading tooth 176 moves toward the adjacent base teeth 178A, 178B With the leading tooth 176 extending distally beyond the second arc distance, the adjacent basal tooth 78 is located at the second arc distance. It is configured to vibrate along the first circular arc 177 as it vibrates along the distance 175. Therefore, the first arc distance 177 is distal to the second arc distance 175.

[0091] Referring to Figures 14 and 15, the saw blade 170 is located proximal to the saw blade 170. It may have a central axis C extending to the distal end. The first plane, plane 1, is in the middle of the saw blade 170. The second can be oriented to intersect the central axis C and divide the saw blade into left and right halves. Plane 1 and Plane 2 intersect with the central axis C of the saw blade 170, and the saw blade is divided into upper and lower halves. They can be oriented to divide into two equal parts. Plane 1 and Plane 2 are oriented to be orthogonal to each other. The leading tooth 76 extends distally from the blade head 174 and along one side of the plane 1. It may be configured such that the adjacent basal teeth 178B are positioned on opposite sides of plane 1.

[0092] A third plane, plane 3, may be configured to intersect the central axis C of the saw blade 170. Plane 3 is positioned so as to make a mirror angle θ with respect to either plane 1 or / or plane 2. It can be directed. For example, plane 3 is oriented at a mirror angle θ defined with respect to plane 2. The mirror angle θ is any angle in the range of 20 to 80 degrees when measured with respect to plane 2. It can be a degree. For example, plane 3 may be oriented with respect to plane 2 at a mirror angle θ of 75 degrees. The leading tooth 176 and the adjacent, shorter basal tooth 178B are mirrored across plane 3. Since each plane has a surface that defines the cutting edge, plane 3 can also be called a mirror surface. For example, the adjacent, shorter basal tooth 178B is reflected in plane 3, the mirror plane. It can be oriented to have a surface that is a mirror image of the leading tooth 176.

[0093] Furthermore, the leading tooth 176 and the adjacent basal teeth 178A and 178B are each adjacent to the teeth It is also intended that the elements be oriented in a horizontal pattern, with each element oriented at opposite angles. For example, referring again to Figure 15, we see the leading tooth 176 and the adjacent basal teeth 178A, 178 Side profile of bladehead 174 showing that B is oriented in a transverse pattern. The first leading tooth 176 is positioned so that it is generally facing downwards with respect to the plane 2. They are oriented, with adjacent basal teeth 178A and 178B generally facing upward relative to plane 2. They are oriented in a particular direction. The combination of the leading tooth 176 and the adjacent basal teeth 178A and 178B When arranged in this configuration, the leading teeth 176 are oriented on the blade head 174. The side (i.e., the upper or lower side) is defined by the adjacent basal teeth 178A and 178B. This results in having an anterior margin that is distal to the margin. This particular shape of the anterior margin is Used to reduce skiving or diving when approaching a cut surface at an angle. It is possible to cut bone or other biological tissue with a saw blade cartridge 110. With respect to the surface, the foremost leading edge defined by the lead teeth 176 is the first to contact the cutting surface. Orienting in this way can be advantageous.

[0094] Referring to Figures 16 to 24, the third configuration of the saw blade cartridge 210 is shown. They have the same basic reference codes, increased by 100, i.e., 10, 110, 210. The components and / or features of the second configuration of the saw blade cartridge 110 are as described above. Please understand that it may operate in the same or exactly the same way as before.

[0095] As described above, the third configuration of the saw blade cartridge 210 is the first plate Multiple plates, including plate 212, a second plate 214, and a third plate 216. The guide bar 211 may have (212, 214, 216). The third plate 216 is positioned between the first plate 212 and the second plate 214. The first, second, and third plates 212, 214, and 216 can be configured to do so. It is constructed in a manner generally similar to that of the saw blade cartridges 10 and 110 described above. However, the configuration of the saw blade cartridge 210 shown in Figures 16 to 24 is first, second It is constructed using alternative configurations for plates 2, and third plates 212, 214, and 216.

[0096] The saw blade cartridge 210 is either the saw blade 70 or 170 mentioned above. It may be equipped with the same or similar saw blade 270. For illustrative purposes, as shown in Figure 16. As described above, the saw blade cartridge 210 is the second configuration of the saw blade 170. It is equipped with a blade 270 similar to the one above. The saw blade consists of a blade body 272 and a blade head. Includes part 274. Blade head 274 has two types of teeth, base teeth 278 and one or more It may include a number of leading teeth 276. For example, as shown in Figures 18 and 19, the blade The head 274 may include a single leading tooth 276. However, as mentioned above, the blade The lead tooth 274 is also intended to include two or more lead teeth. The lead tooth 276 is The lead tooth 276 may be positioned proximal to the center of the distal surface of the lead head 274. Furthermore, the lead tooth 276 is located as shown in Figure As is best seen in Figures 19 and 20, the adjacent base of the blade head 274 It is configured to extend a third distance distally to tooth D3 beyond the base teeth 278A and 278B. During operation, the leading tooth 276 extends distally beyond the adjacent basal teeth 278A and 278B. In the extended state, the leading tooth 276 is located where the adjacent basal tooth 278 is approximately at the second arc distance 275. As it vibrates, it is configured to vibrate along the first arc distance 277, Therefore, the first arc distance 277 is distal to the second arc distance 275.

[0097] Referring to Figure 19, the guide bar includes alternative configurations and / or shapes for the distal portion 220. -211 is shown. As described above with respect to Figure 1, the distal portion 2 of the guide bar 11 The opposing edges of 0 are tapered edges defined by the first and second plates 11. Parts 32 and 99 may be included. As shown in Figure 19, the distal portion 220 of the guide bar 211 Furthermore, the opposing edges on both sides are tapered portions 232, 299 and parallel portions 231, 297 It may be formed to include both. For example, the distal portion 220 of the guide bar 211 is a guide The bar 211 includes tapered edges 232 and 299 immediately forward of its central portion. The opposing edges 232 and 299 of plates 212 and 214 are along the guide bar 211. As it moves distally, the guide bar 211 tapers inward toward its longitudinal axis L. It can be kicked. In front of the tapered edges 231 and 299, the guide bar 211 is the first The opposing edges 231 and 297 of the second plates 212 and 214 are the length of the guide bar 211. It can be formed so as to be approximately parallel to the hand axis L.

[0098] The distal portion of the guide bar 11 also has a roughly oval-shaped opening 2 within the second plate 214. It may include 98 pairs. The figure shows two openings 298, but the guide bar is single It can be constructed to have only one opening, or to have two or more openings. This is intended. Furthermore, the opening is defined in the figure within the second plate 214. Although shown as such, similar openings can also be defined within the first plate 212. The opening 298 is intended to be along the length of the distal portion 220 of the second plate 214. It may include curves and / or bends extending in the direction of the hand. The opening is a saw blade cartridge When plate 210 was used to cut biological tissue, the first and second plates 212, It may be configured to assist in the removal of debris that may become trapped during 214.

[0099] Referring to Figure 23, alternative configurations for the outer tines 246A and 246B are shown. Adjacent to the distal ends of each tine 246A, 246B, each tine is the length of the guide bar 211 Shaped to have one identified tab 261 extending inward along the hand axis L. It is positioned proximal to tab 261, where each tine 246A and 246B is a guide bar. It has lobes 260A and 260B that extend inward toward the longitudinal axis L of 211. The shape is set as follows: It moves from the proximal to the distal side along tines 246A and 246B. As we proceed, the related lobes 260A and 260B are first connected to the longitudinal axis L of the guide bar 211. It curves inward toward the third plate 216, and then curves outward toward the third plate 216. 260A and 260B are formed so as to be spaced apart proximally from tab 261.

[0100] Referring to Figures 25-27, saw blade cartridges 10, 110, and 210 are used for surgical purposes. An exemplary configuration of the mount 303 for securing the manipulator 301 is shown. Mount 303 allows you to attach saw blade cartridges 10, 110, and 210 to Mount 303. It may include a connecting rod 305 configured to be detachably fixed. The connecting rod 305 is Saw blade cartridges 10, 110, 210, such as keyhole openings 26, 126, 226, etc. The openings 26, 52, 90, 126, 152, 190, 226, 252, and 290 are mutually compatible. The saw blade cartridges 10, 110, and 210 are detachably connected to the mount 303. It is possible. The connecting rod 305 is through the larger portion of the keyhole openings 26, 126, and 226. The head may include a head that is configured to fit in, and the shaft of the connecting rod 305 is such that the head fits in After being inserted through the larger part, the smaller part of the keyhole opening 26, 126, 226 It can be configured to fit perfectly within minutes. Then, the larger part will fit on top of the smaller part. The saw blade cartridges 10, 110, and 210 are mounted on the 303. It may be configured to be detachably fixed. Example of a mount for a saw blade cartridge. This structure is based on International Publication No. 2007 / 030793 and U.S. Publication No. 8,696,673 These are disclosed in issue number [number]. Both are incorporated in their entirety herein. .

[0101] The connecting rod 305 is operated between a locked state and an unlocked state. It can be controlled by a connecting lever 307 configured to do so. For example, the connecting lever 307 The connecting rod 305 mounts saw blade cartridges 10, 110, and 210. To retract it into a locked state configured to be fixed at position 3, it is rotated in one direction. Alternatively, the connecting lever 307 can connect the connecting rod 305 to the mount 303. This will allow for the installation and / or removal of RAID cartridges 10, 110, and 210. To extend or advance to the unlocked state configured as such, it is rotated in the opposite direction. obtain.

[0102] The mount consists of the first, second, and / or third plates 12, 14, 16, 112, The openings within 114, 116, 212, 214, and 216 are 28, 54, 92, and 128 respectively. Alignment feature 30 configured to interact with 154, 192, 228, 254, and 292 It may further include 9. Alignment feature 309 is saw blade cartridge 10, 110, 210 When it is connected to mount 303, the first, second, and / or third plate 12, Opening 28 within each of 14, 16, 112, 114, 116, 212, 214, and 216, Inserted through points 54, 92, 128, 154, 192, 228, 254, and 292. It may include pins configured as follows. Alignment feature 303 has first openings 28, 54, 92, 12 Size to engage simultaneously with opposing sides of 8, 154, 192, 228, 254, and 292. The alignment feature 309 can be circular, oval, square, rhombus, or similar polygonal shape. It can be defined to have a shape. The shape is not important, but the alignment feature 309 is a saw blade. The intention is to provide functionality that aligns the cartridge 10 with the surgical manipulator 301. In the illustrated configuration, (measured in a direction approximately perpendicular to the horizontal axis L of the saw blade cartridge 10) The width of the surgical alignment feature 309 (when used) is 28, 54, 92, 128, 15 Sized to engage simultaneously with opposing sides 4, 192, 228, 254, and 292. The combination of the connecting rod 305 and the alignment feature 309 is obtained. The longitudinal axes L of 10, 110, and 210 are configured to be oriented to match the mount 303. It is possible. Proper and precise alignment of the saw blade cartridges 10, 110, and 210 with the mount. The saw blade cartridges 10, 110, 210 and / or mount 303 are This can be particularly advantageous when they do not have their own dedicated tracker. For example, The position of saw blade cartridges 10, 110, and 210 is shown on surgical manipulator 301. Trackers 4A, 4B and / or Mount 303 connected to Mount 303 Based on known information regarding the 10, 110, and 210 saw blade cartridges. This can be determined based on the conversion. In this particular scenario, the saw blade with mount 303. The alignment of cartridges 10, 110, and 210 is as follows: saw blade cartridges 10, 110, and 2 This is important for accurately tracking 10 different postures.

[0103] Mount 303 also accepts saw blade cartridges 10, 110, and 210. It may include a mounting surface 315 configured as follows. Saw blade cartridges 10, 110, 210 When connected to the mount, the bottom surface of the proximal portion of the first plate 12, 112, 212 is mounted It can be seated adjacent to the contact surface 315. When the connecting rod 305 is in the locked state, The connecting rod 305 presses the saw blade cartridges 10, 110, and 210 against the mounting surface 315. The system is configured to hold the saw blade cartridges 10, 110, and 210 in place. It is possible.

[0104] The method of attaching a surgical saw blade 10 to a surgical manipulator 301 is a surgical manipulator The alignment feature of the 301 is the first opening of the surgical saw blade 10, 28, 54, 92, 1 Insert into 28, 154, 192, 228, 254, 292 and surgical manipulator 30 1 connecting rod 305 to the second openings 26, 52, 90, 126 of the surgical saw blade 10 This may include inserting into 152, 190, 226, 252, and 290. This method also The surgical saw blade 10 is slid proximal toward the surgical manipulator 301. Each of the alignment features 303 and the connecting rod 305 is connected to the first openings 28, 54, 92, 1 28, 154, 192, 228, 254, 292 and second openings 26, 52, 90, From the proximal positions within each of 126, 152, 190, 226, 252, and 290, The first openings 28, 54, 92, 128, 154, 192, 228, 254, 292 and the second openings 26, 52, 90, 126, 152, 190, 226, 252, 290 This may include moving each to a distal position within the respective. Alignment feature 309 is a surgical saw blade 1 As 0 is slid proximally toward the surgical manipulator 301, the surgical In order to align the saw blade 10 axially with respect to the surgical manipulator 301, distal to openings 28, 54, 92, 128, 154, 192, 228, 254, and 292 of 1 When positioned within the location, the first openings 28, 54, 92, 128, 154, 192 Size and / or to engage simultaneously with opposing sides 228, 254, and 292 The shape can be set. Furthermore, the alignment feature 309 allows the surgical saw blade 10 to be used as a surgical manipulator. To align laterally with respect to lattice 301, the first openings 28, 54, 92, 128, Size and / or shape to engage with 154, 192, 228, 254, 292 It is intended that the state can be set.

[0105] Mount 303 also includes saw blade cartridges 10, 110, and 210. It may include a drive rod 311 for operating 0, 170, and 270. It is seated in holes 66, 166, 266 formed within the drive link legs 64, 164, 264. It may include at least one drive pin 313 configured to do so. The figure shows pairs of drive pins. Although it is shown that the mount 303 uses only a single drive pin 313 to drive the saw blade To operate saw blades 70, 170, and 270 with cartridges 10, 110, and 210. It is intended that it may be configured. During operation, the drive rod 311 is vibrated back and forth, and It is rotated / or partially, causing the drive pin to reciprocate, and as a result, the drive Links 62, 162, and 262 can be made to move back and forth.

[0106] The drive rod 311 also pushes the drive rod 311 proximal toward the locked position. It may include a biasing member (not shown) configured as follows. The force of the biasing member drives the drive rod 311 It can be overcome by pulling it distally toward the mounting position. During operation, the drive rod While the do 311 is in the locked position, holes are formed in the drive link legs 64, 164, and 264. 66, 166, and 266 can be seated on the drive pin 313. Next, the saw blade cartridge Pull 10, 110, and 210 distally (forward) to overcome the force of the biasing member, and drive rod The saw blade cartridges 10, 110, and 210 can be mounted on the mount 303. It can be guided toward the mounting position. Saw blade cartridges 10, 110, and 210 are mounted. In other words, the connecting rod is inserted through the keyhole openings 26, 126, and 226, and the first The proximal portions 18, 118, and 218 of plates 12, 112, and 212 are adjacent to the mounting surface 315. Then, the saw blade cartridges 10, 110, and 210 may be released, and the biasing member will cause the saw blade to wobble. Move cartridges 10, 110, and 210 proximally until they reach the locked position. This will result in it happening.

[0107] The mount 303 further extends the bracket 317, which is positioned on the opposite side of the mounting surface 315. It may be included in the following. The bracket extends upward from the mounting surface and is attached to the saw blade cartridge 1 When 0, 110, and 210 are connected to mount 303, saw blade cartridge 10, At least part of the second plates 14, 114, and 214 of 110 and 210 are covered to cover the upper surface of the second plates 14, 114, and 214. It may include a tab 319 configured to extend in segments. Saw blade cartridge 10, Saw blade cartridges 10, 110, 210 to mount 110, 210 on the mount The purpose of pulling 10 distally (forward) is to control the saw blade cartridges 10, 110, and 210. The proximal portions 18, 118, and 218 are freed from the tab 319 of the bracket 317. The objective is to enable it. Subsequently, the biasing member is used for the saw blade cartridges 10, 110, and 210. When moved to the proximal side, the proximal portion 1 of the saw blade cartridges 10, 110, and 210 Sections 8, 118, and 218 are seated between the tab 319 and the mounting surface 315.

[0108] The bracket 317 may also include a tapered surface 325. The tapered surface 325 is a saw blade Orient cartridges 10, 110, and 210 relative to mount 303 and / or fix them in place. For the purpose of determining, the proximal portions 18, 118, 2 of the third plate 16, 116, 216 The tapered surface 325 can be configured to match the various tapers of the 18 opposing edges. Opposing edges of the proximal portions 18, 118, 218 of the third plate 16, 116, 216 It can be configured to match various tapers, thereby allowing the biasing member to adjust the saw blade cartridge When the edges 10, 110, and 210 are guided proximally, the third plate 16, 116, and 216 The positional portions 18, 118, and 218 are sandwiched between the opposing tapered surfaces 325 of the bracket 317. , aligning the surgical saw blade 10 axially with respect to the surgical manipulator 301 This will result in the third plates 16, 116, and 216 being opposite the bracket 317. The surgical saw blade 10 is sandwiched between the two surfaces 325 and directed towards the surgical manipulator 301. The intention is also to align them horizontally. Various segments with different taper angles are formed. The opposing edges of the proximal portions 18, 118, and 218 of the third plate 16, 116, and 216 Furthermore, the tapered surface 325 of the bracket 317 is formed to coincide with the This brings improved alignment of saw blade cartridges 10, 110, and 210 with the 303. This allows for improved navigation accuracy for saw blade cartridges 10, 110, and 210. To do good.

[0109] Referring to Figures 28 to 32, the surgical manipulator 301 is connected to the mount 303. Exemplary surgical assembly 1 including saw blade cartridges 10, 110, and 210 The following configuration is shown.

[0110] During operation, saw blade cartridges 10, 110, and 210 are moved to the robot arm, and This includes handheld robotic handpieces, hand-to-hand power tools, and other surgical tools. It can be connected to the manipulator 301. Saw blade cartridges 10, 110, and 210 are external. It can be fixed to the mount 303 of the scientific manipulator 301. To achieve this, Each drive pin 313 of mount 303 is formed within drive link legs 62, 162, and 262. The saw blade cartridges 10 and 110 are seated in their respective holes 66, 166, and 266. , 210 can be pulled forward, and the drive pin 313 and drive mechanism 311 can be pulled forward. Next, The bottom surfaces of the first plates 12, 112, and 212 are adjacent to the mounting surface 315 of the mount 313. The saw blade cartridges 10, 110, and 210 can be lowered so that they can be positioned. At that time, the mounting connecting rod 305 is connected to the saw blade cartridges 10, 110, and 210. The overlapping openings are 26, 52, 90, 126, 152, 190, 226, 252, 2 It can be inserted through 90. Next, the connecting rod 305 is lowered using the connecting lever 307. The head of the connecting rod 305 is lowered onto the guide bars 11, 111, and 211, thereby, Plates 12, 14, 16, 112, 114, 116, 212, 214, and 216 are keyhole shaped. If openings 26, 126, and 226 are included, the head of the connecting rod 305 is above the plate. It applies pressure to the surface. This compressive action mounts saw blade cartridges 10, 110, and 210. The saw blade cartridges 10, 110, and 210 are held in place by the 303 mount. When set, the drive pin 313 and drive link 311 move to the saw blade cartridge 10 Work together to guide 110 and 210 towards the proximal side. Saw blade cartridges 10 and 110, The proximal portions 18, 118, and 218 of 210 are seated adjacent to the mounting surface 315.

[0111] Saw blade cartridges 10, 110, and 210 are motors for surgical manipulator 301. The motor can be operated by activating (not shown). The motor is operated by drive pin 31 This generates a forward and backward vibration of 3. The motion of the drive pin 313 is transmitted to the drive links 62, 162, and 262. The drive links 62, 162, and 262 are made to reciprocate in both the forward and backward directions. The forward and backward movement of 162, 262 is controlled by the saw blades 70, 170, 270 and guide bars 11, 11 1. The 211 head rotates back and forth around the 58, 158, and 258 points. Saw blade 7 The rotational action of 0, 170, and 270 is 74, 174, and 274 for the bladehead, and consequently This causes vibrations in the blade teeth 76, 78, 176, 178, 276, and 278, resulting in saw wobble. The tissue to which the cartridges 10, 110, and 210 are pressed is cut by the teeth. ru.

[0112] Saw blade cartridges 10, 110, 210 mount 303 and / or surgical When attached to the manipulator 301, the saw blade cartridges 10, 110, and 210 Using the reference features 56, 156, and 256, the navigation system is used to control the saw blade. The orientation of cartridges 10, 110, and 210 can be aligned and / or verified. The saw blade cartridges 10, 110, and 210 are aligned using the navigation system. The method involves placing the distal end of the device on the first plate 12, 112, 212 or the second plate One of the holes 14, 114, and 214 is 30, 94, 130, 194, 230, 29 By inserting through 4, the alignment tool including the first tracking device 3 or Place instrument 2 against reference features 56, 156, and 256 on inner plates 16, 116, and 216. This may include the following. Criteria features 56, 156, and 256 are saw blade cartridges 10 and 110. , align the position and / or orientation of 210 with respect to the navigation system, and / or saw blade cartridges 10, 11 within a surgical navigation system The method may be configured to verify the position and / or orientation of 0, 210. 1 corresponds to reference features 56, 156, and 256 on saw blade cartridges 10, 110, and 210. While being targeted, the position and orientation of the first tracking device 3 are tracked, and reference features 56, This method may further include determining the actual positions and orientations of 156 and 256. As mentioned above, the mounting features and the reference features of saw blade cartridges 10, 110, and 210 Based on predetermined geometric data corresponding to the relationship between characteristics 56, 156, and 256, the reference characteristic This may include determining the expected positions of features 56, 156, and 256.

[0113] The actual position and orientation of reference features 56, 156, and 256 are as follows: saw blade cartridge 1 It can be further configured to identify types 0, 110, and 210. For example, criterion feature 56 The positions of 156 and 256 can vary between different types and / or sizes of blades. Therefore, the actual positions and orientations of reference features 56, 156, and 256 were determined. The navigation system then displays the actual location and orientation of reference features 56, 156, and 256. It is configured to identify the type of saw blade cartridge 10, 110, and 210 based on this. This is possible, but is not limited to the type of blade and the blade head. Thickness, tooth configuration of the blade head, length of the guide bar, and / or guide bar 11, 1 Identify the characteristics of saw blade cartridges 10, 110, and 210, such as their widths of 11 and 211. This may include doing so.

[0114] Referring to Figures 33-36, alternatives for criterion features 56, 56A, 56B, 56C, and 56D. The saw blade cartridge 10 described above, including the above configuration, is shown. The saw blade cartridge 10 has multiple reference features 56, 56A, 56B, 56C, 5 6D may be included. Figures 33, 34, and 36 show reference features 56, 56A, 56B, 5 The diagram shows a surgical saw blade cartridge including exemplary arrangements of 6C and 56D. Features 56, 56A, 56B, 56C, and 56D may be located on the third plate 16, and the first and and / or the second plate 12, 14 have reference features 56, 56A, 56B, 56C, 56 The shape can be configured to expose D. For example, as shown in Figure 33, the first and / or the second plates 12, 14 have openings to provide access to the reference feature 56. Parts 30A and 94A may be included. Also, standard features 56A, 56B, 56C, and 56D are first and / or on the portion of the third plate 16 exposed from the second plate 12, 14 It is also intended that it may be installed. Referring to Figure 33, the first and / or second pre Multiple Criteria features 56A, 56B, 56C, and 56D are defined. Although not shown in the diagram, further The first and / or second plates 12, 14 are defined on the third plate 16. To provide access to reference features 56, 56A, 56B, 56C, and 56D, cut Including the out, defining the recess within the outer edge, and / or additional holes and / or The aim is to define the opening. As mentioned above, standard features 56, 56A, 56 B, 56C, 56D are holes, indentations, notches, color markings, or similar markings. It can be formed as a group. Furthermore, the reference features 56, 56A, 56B, 56C, and 56D are shown in the figure. In this, it is shown to be placed on the third plate 16, but also the standard special Features 56, 56A, 56B, 56C, 56D are the first and / or second plates 12, 1 It is also intended that it may be placed on 4. Reference features for a given saw blade cartridge. 56, 56A, 56B, 56C, 56D are the first, second, and / or third plate 1 It can be placed on any combination of 2, 14, and 16.

[0115] Referring to Figures 35A and 35B, the saw blade cartridges 10 and 11 described above Alternative configurations for the saw blade 70 of any of 0, 210 are shown. The saw blade 70 includes a blade head 74 having multiple teeth 76, 78. The rod 74 may have one or more holes 75 formed therein. Referring to Figure 35A, hole 7 An exemplary bladehead 74 including the pair 5A, 75B is shown. Alternatively, see Figure 35. B shows an exemplary blade head 74 including three holes 75A, 75B, and 75C. The cut head 74 is intended to have any number of holes 75 formed therein. The holes 75 are formed during cutting. It may be configured to allow the removal of fragments. Also, the hole 75 is for the blade 70 during cutting. It is also intended that it may be configured to provide cooling of the blade head 74. Furthermore, the hole 75 may be configured to assist in the fabrication of the blade 70. For example, When manufacturing the blade 70, the hole 75 is located within the blank material piece where the blade will be formed. They may be machined and / or formed thereafter. The holes are then used as reference points during the manufacturing process. This allows the blade body 72, blade head 74, and / or teeth 76 to be positioned. 78 can be machined / formed using hole 75 as a reference. For example, the manufacturing process The hole 75 may be set so that it is identifiable, and the machining tool may be positioned based on the hole 75. Programming to cut and / or grind the blank parts of the material and form teeth. It will be done.

[0116] Referring to Figures 37 to 40, the saw blade cartridges 10, 110, and 21 described above An alternative configuration for the openings 30, 94 in the guide bar 11 of any of the 0 is shown. As stated above, of the first and / or second plates 12, 14 Either the saw blade cartridges 10, 110, or 210 will be installed in the navigation system. Access to reference features 56 which may be used for identification and / or alignment. Openings 30 and 94 for providing a sash can be defined. Figures 37 and 38 show the first and / or may include alternative configurations for the openings 30B, 94B within the second plates 12, 14. Guide bar 11 is shown. The openings 30B and 94B are the first region 31B, 93B and the second region The shape can be set to define the regions 33B and 95B. Regions 31B and 93B have a first size and are configured to receive the alignment tool 2. It is possible. The second region 33B, 95B of the opening 30B, 94B is the first region 31B, 9 It may have a second size smaller than the size of 3B. The second region 33B, 95B is located Identify alignment tool 2 and / or guide it toward contact points 35B, 97B It can be further configured. Contact points 35B, 97B are on the first and / or second plate 12. 14 may be located above. Also, the second area 33B, 95B is the third area of ​​the alignment tool 2. It is also intended that the plate 16 may be further configured to guide to a contact point or reference feature. For example, during operation, the alignment tool 2 will align the first and / or second plate 1. Inserted into the first region 31B, 93B of the opening 30B, 94B defined by 2, 14. It is possible. The alignment tool is from the first region 31B, 93B to the second region 33B, 95B It can be guided within openings 30B and 94B. The second region 33B and 95B is a alignment zone. As rod 2 moves within openings 30B and 94B, the second region 33B and 95B Alignment tool 2 is recognizable by the navigation system, and / or The contact points may correspond to the reference features of the known saw blade cartridges 10, 110, and 210. The size and / or shape can be set to guide to 35B and 97B. - In this configuration of 11, the hole configuration of the reference feature 56 is removed from the third plate 16, As the alignment tool 2 is guided within the openings 30B and 94B, the alignment tool 2 It is intended that it may come into contact with the surface of plate 16. As shown in Figures 37 and 38. Thus, exemplary configurations of openings 30B and 94B may have a key shape.

[0117] Referring to Figures 39 and 40, the saw blade cartridges 10 and 110 described above, Another alternative for the openings 30, 94 in the guide bar 11 of any of the 210 The configuration is shown. Similar to the openings 30B and 94B in Figures 37 and 38, as well as in Figure 39. The configuration of the openings 30C and 94C shown in Figure 40 is that of the first region 31C, 93C and the The shape can be set to define two regions 33C, 95C. The openings 30C, 94C Regions 31C and 93C of area 1 have a first size and are configured to receive the alignment tool 2. This can be achieved. The second regions 33C, 95C of the openings 30C, 94C are the first region 31C, It may have a second size smaller than the size of 93C. The second region 33C, 95C is, To identify the alignment tool 2 and / or guide it toward the contact points 35C, 97C It may be further configured as follows: Contact points 35C, 97C are on the first and / or second plate 12 , 14 may be located above. Also, the second region 33C, 95C is the third alignment tool 2. It may also be configured to guide to a contact point or reference feature on plate 16. As illustrated, an exemplary configuration of openings 30B and 94B is shown in Figures 39 and 40. It may have a triangular shape.

[0118] During the process of advancing saw blade cartridges 10, 110, and 210, the saw blade Cartridges 10, 110, and 210 are subjected to resistance. Inner plates 16, 116, and 21 6 provides structural strength to guide bars 11, 111, and 211. This structural strength provides resistance to these The magnitude by which bars 11, 111, and 211 would otherwise bend when subjected to drag. Withstands the load. The inner tines extend forward to the heads 58, 158, and 258 at 48, 148, and 248. The outer tines 46, 146, and 246 are divided into guide bars 11, 111, and 21 Further reinforcement is provided for 1. Robes 60, 160, 260 and / or tabs 26 1 is the distal portion 20, 120, 220 of the guide bar 11, 111, 211 - Provides structural strength to 11, 111, and 211. This is the guide bar that first receives resistance. - These are the parts 11, 111, and 211. Therefore, lobes 60, 160, 260 and / Alternatively, the presence of tab 261 indicates that the distal portions 20 and 120 of guide bars 11, 111, and 211 are... Further reduces the likelihood of the 220 becoming a skybing or diving guide. Skiving or diving of the distal portions 20, 120, and 220 of bars 11, 111, and 211. To prevent skiving, saw blade cartridges 10, 110, and 210 are designed to skive as a whole. Or it reduces the likelihood of having to dive.

[0119] Further features of saw blade cartridges 10, 110, and 210 include drive links 62 and 1 62 and 262 are enclosed on both sides by inner plates 16, 116, and 216. Yes. This is because when saw blade cartridges 10, 110, and 210 are in operation, surgical If the physician holds or touches the sides of guide bars 11, 111, and 211 This means that the surgeon's fingers do not come into contact with the reciprocating drive links 62, 162, and 262. At the very least, this means that when the drive links 62, 162, and 262 are in motion, the outside This makes it essentially impossible to tear the glove off the doctor's fingers. Yet another benefit of this design These are plates 12, 14, 16, 112, 114, 116, 212, 214, 21 The objective is to facilitate efficient welding of the side portion of 6. Guide bars 11, 111, 211 Plates 12, 14, 16, 1 for forming side welds along opposing sides These side welds on 12, 114, 116, 212, 214, and 216 reinforce the guide bar. It fulfills its role.

[0120] For example, the various features of the different configurations of saw blade cartridges 10, 110, and 210 are as follows: Various components can be combined in any arrangement.

[0121] Similarly, all components of saw blade cartridges 10, 110, and 210 are all the same as described above. They do not need to have a mark. For example, all of the saw blade cartridges 10, 110, and 210 The configuration does not necessarily have to include an outer tine extending forward of the inner tine. In yet another example, it is not necessary for all outer tines to include inward-facing robes. stomach.

[0122] Similarly, depending on the saw blade cartridge version 10, 110, and 210, the inside Plates 16, 116, and 216 are the first plates 12, 112, and 212 or the second plate Formed entirely or partially by one or both of parts 14, 114, and 214. Therefore, with these versions of saw blade cartridges 10, 110, and 210 Once the blank is formed, the blank is seated with the drive rod and around the tines It is machined to define the slot to be defined. Alternatively, the opening of the guide bar and The slotted portions can be formed by molding.

[0123] Depending on the version of the saw blade cartridge (10, 110, 210), a single drive motor may be used. The crank may be all that is needed to rotate the blade head. Depending on the version of cartridge 10, 110, or 210, one or more drive links The axis does not have to be parallel to the longitudinal axis passing through the cartridge. Therefore, the saw blade cartridge In these versions of the Ridge 10, 110, and 210, one or more drive links The opening in the guide bar where the element sits is also parallel to the longitudinal axis passing through the cartridge. They do not need to be aligned on a line.

[0124] A saw blade car with at least one drive link and a blade having complementary teeth. In versions 10, 110, and 210 of the TDridge, the guide bar is different from the one described above. It may have a structure such as the following. Specifically, the guide bar has a head, the blade head, and the bar One of the plates to be formed may be formed in a way that it is not a single integrated piece. (Saw blade cart) In these versions of the Ridge 10, 110, and 210, the blade rotates around the center. The structure is attached to at least one of the plates forming the bar, or is attached to it. It could be a pin that has become a body.

[0125] Depending on the version of the saw blade cartridge (10, 110, 210), the guide bar may be... Two or all three of the plates to be formed are welded together or otherwise It does not have to be three separate plates fixed in one direction. Saw blade cartridge 10, 1 In these alternative versions, 10 and 210, multiple plates are treated as a single unit. They are then machined or molded together.

[0126] The various shapes of the elements may differ from those described above.

[0127] Therefore, the attached claims are true to the nature of saw blade cartridges 10, 110, and 210. The aim is to cover all such variations and modifications that encompass the essence and scope of the concept.

Claims

1. A saw blade cartridge surgical device, A guide bar including a distal portion and a proximal portion, The first plate and The second plate, It is partially positioned between the first plate and the second plate, defining the pivot surface. The inner plate and A guide bar having, A blade is at least partially positioned between the first plate and the second plate. and The blade is equipped with, A blade body including a proximal end and a distal end, A blade head positioned on the distal end of the blade body, wherein teeth are formed The blade head is such that the proximal end of the blade body is in contact with the swivel surface. and The aforementioned proximal portion defines the proximal end, One of the first and second plates defines the first outer edge, The inner plate defines a second outer edge, and the second outer edge is the first and second It extends beyond the first outer edge defined by one of the plates, The second outer edge aligns the saw blade cartridge with the surgical device. To support this, the second outer edge extends from the proximal end of the proximal portion to the distal end A saw blade cartridge with an outward taper towards the tip.

2. The guide bar has a length that extends between the distal portion and the proximal portion of the guide bar. Further defining the axis of hand direction, The second outer edge is along the longitudinal axis between the first point and the second point on the second outer edge. Define the first taper angle for , The second outer edge is the longitudinal portion between the second point and the third point on the second outer edge. A second taper angle with respect to the counteraxis is defined, and the first point is greater than the third point of the cartridge It is close to the proximal end of the edge, and the second point is located between the first point and the third point. A saw blade cartridge according to claim 1, which is placed in a position.

3. The second outer edge is located longitudinally between the third point and the fourth point on the second outer edge. A saw blade cartridge according to claim 2, which defines a third taper angle with respect to the counteraxis.

4. The inner plate further includes tines extending from the proximal end of the guide bar, The saw blade according to any one of claims 1 to 3, wherein the tine defines the swivel surface. Tridge.

5. The tine is an inner tine, and the inner plate is a first outer tine and a second outer Further including side tines, the inner tines are positioned between the first and second outer tines. A saw blade cartridge according to any one of claims 4.

6. The tine is an inner tine and further comprises a first outer tine and a second outer tine. Furthermore, the first and second outer tines are positioned between the first and second plates. The inner tine is positioned between the first and second outer tines. The saw blade cartridge described in item 4.

7. The first and second outer tines are located further apart than the inner tines at the distal end of the guide bar. A saw blade cartridge according to claim 5 or 6, which extends in close proximity to the part.

8. The first and second outer tines each include a distal end, The guide bar has the distal ends of each of the first and second outer tines being the first It is configured to be located proximal to the distal end of the plate and the second plate. 、 The side defined by the first plate and the second plate is the first The plate and the proximal side of the distal end of the second plate, and the first and The holes distal to the distal end of each of the second outer tines are defined, and the holes are designated as the exit points for the fragments. A saw blade cartridge according to claim 5 or 6, provided.

9. The first and second lateral tines each include a distal tip, The guide bar has the distal tip of each of the first and second outer tines being the first The plate and the second plate are configured to be adjacent to the distal end of the claim The saw blade cartridge described in item 6.

10. The saw blade according to any one of claims 1 to 9, wherein the swivel surface is an arc-shaped surface. Tridge.

11. The proximal end of the blade body defines a recess that contacts the swivel surface, thereby The blade body is positioned by the inner plate when the blade body is in operation. The saw blade according to claim 10, configured to rotate around a defined pivoting surface. A cartridge.

12. This allows the guide bar to be inserted into the cut made by the blade head. Therefore, the teeth define the thickness of the blade head which is greater than or equal to the thickness of the guide bar. or the saw blade cartridge according to claim 10 or 11.

13. A drive link is movably positioned between the first and second plates. Furthermore, The at least one drive link has opposing proximal and distal ends, and the proximal end However, it is adapted to be attached to the drive element of the surgical device, and the distal end The part is connected to the proximal end of the blade body, thereby the at least 1 The reciprocating motion of the drive links causes the blade to rotate around the pivot plane. A saw blade cartridge as described in any one of the requirements 1 through 12.

14. The at least one drive link includes at least two drive links, according to claim 13. The saw blade cartridge as described.

15. The claim states that at least two of the drive links are movably connected to the blade head. The saw blade cartridge described in item 14.

16. Claims 1 to 1, wherein the inner plate extends laterally beyond the outer plate. A saw blade cartridge as described in any one of item 5.

17. The inner plate aligns the guide bar axially with respect to the surgical device. Further defining the slot configured in such a way, as described in any one of claims 1 to 16 Saw blade cartridge.

18. The axial slot is such that the longitudinal axis of the slot is the longitudinal axis of the guide bar The saw blade cartridge according to claim 17, which is oriented parallel to the counteraxis.

19. At least one of the plates is the surgical plate using a navigation system Defining reference features configured to facilitate the determination of the blade's position and / or orientation. A saw blade cartridge according to any one of claims 1 to 18.

20. The inner plate determines the position of the surgical blade using the navigation system. Claim 1 further includes a reference feature configured to facilitate the determination of the symmetric and / or orientation. A saw blade cartridge as described in any one of item 18.

21. Claims that the aforementioned criterion feature is selected from the group including optical markings, recesses, or holes. Saw blade cartridge as described in 19 or 20.

22. The aforementioned reference feature includes multiple laser markings, At least one of the plurality of laser markings is positioned on both sides of the longitudinal axis. A saw blade cartridge according to claim 19 or 20, which is provided.

23. At least one of the first plate or the second plate is the inner plate The shape is configured to provide access to the aforementioned reference features of the rate, claim 19. A saw blade cartridge as described in any one of items 22.

24. The aforementioned reference features are defined by one of the first and second plates. The front of the inner plate that extends beyond the first outer edge and is exposed by the second outer edge The saw blade cartridge according to claim 23, which is arranged on the surface of the inner plate. 。

25. The aforementioned standard features include one or more characteristics of the saw blade cartridge, and the saw The blade cartridge is configured to be identified to the navigation system. A saw blade cartridge according to any one of claims 19 to 24.

26. The above characteristics include the type of blade, the blade thickness of the blade head, and the blade head. The configuration of the teeth of the head, the length of the guide bar, and / or the width of the guide bar, less than The saw blade cartridge according to claim 25, comprising at least one of the following:

27. A surgical blade cartridge for use with surgical devices, The first plate and The second plate, An inner plate that defines the rotation surface, A blade is at least partially positioned between the first plate and the second plate. and The blade is equipped with, A blade body including a proximal end and a distal end, A blade head positioned on the distal end of the blade body, wherein teeth are formed The blade head is such that the proximal end of the blade body is in contact with the swivel surface. and Includes, The inner plate determines the position of the surgical blade relative to the navigation system. A reference feature configured to facilitate the determination of at least one of the following: Including, The first plate, the second plate, and the inner plate are the inner plate A surgical blade shaped to allow access to the aforementioned reference features on the surface. A cartridge.

28. Holes are defined in the first and second plates, and the holes are the inner plate A surgical blade cartridge according to claim 27, which provides access to a reference feature.

29. Claim 27, wherein the aforementioned criterion feature is selected from the group including markings, indentations, or holes. Or the surgical blade cartridge described in 28.

30. The aforementioned reference feature includes multiple laser markings, At least one of the plurality of laser markings is positioned on both sides of the longitudinal axis. A surgical blade cartridge according to claim 27 or 28.

31. The proximal end of the blade body is configured to form a recess that contacts the swivel surface. Thus, the blade body is defined by the inner plate, and the rotation A surgical blade cartridge according to claim 28, configured to rotate around a surface Jig.

32. This allows the guide bar to be inserted into the cut made by the blade head. Therefore, the teeth define the thickness of the blade head which is greater than or equal to the thickness of the guide bar. , the surgical blade cartridge according to claim 28 or 31.

33. The tooth has sufficient thickness to form an incision that can receive the guide bar. A surgical blade cartridge according to claim 28, comprising:

34. The aforementioned inner plate is The first outer tine, The second outer tine, Distended between the first and second outer tines, and including a distal end that defines the swivel surface. The central tine A surgical blade cartridge according to any one of claims 28 to 33, having the following:

35. At least one drive link is located in the gap between the first and second plates, It is movably positioned in the space between one of the first or second outer tines and the central tine. It is done, The at least one drive link has opposing proximal and distal ends, and the proximal end However, it is adapted to be attached to the drive element of the surgical device, and the distal end The part is connected to the proximal end of the blade body, thereby the at least 1 The reciprocating motion of the drive links causes the blade to rotate around the pivot plane of the central tine. A surgical blade cartridge according to claim 34, which provides a number of uses.

36. Claims 27 to 35, wherein the aforementioned criterion feature is a recess defined within the inner plate. A surgical blade cartridge as described in any one of the following items.

37. Claims 27 to 35, wherein the aforementioned criterion feature is a hole defined within the inner plate. A surgical blade cartridge as described in item 1.

38. A portion of the inner plate is a small portion of the first plate or the second plate. At the very least, it extends laterally beyond one of the outer peripheral edges, as per any of claims 27 to 37. The surgical blade cartridge described in item 1.

39. The aforementioned criterion feature is at least one of the first plate or the second plate. It is positioned on the portion of the inner plate that extends laterally beyond the outer peripheral edge of the side. A surgical blade cartridge according to claim 38.

40. The inner plate aligns the guide bar axially with respect to the surgical device. Further defining the slot configured in such a way, as described in any one of claims 27 to 39 Surgical blade cartridges.

41. The longitudinal axis of the slot is such that the longitudinal axis of the slot is the longitudinal axis of the guide bar. A surgical blade cartridge according to claim 40, which is oriented to align.

42. The aforementioned standard features include one or more characteristics of the saw blade cartridge, and the saw The blade cartridge is configured to be identified to the navigation system. A surgical blade cartridge according to any one of claims 27 to 41.

43. The aforementioned standard features are comprised of one or more characteristics of the saw blade cartridge. The above characteristics include the type of blade, the blade thickness of the blade head, and the blade head. The configuration of the teeth of the head, the length of the guide bar, and / or the width of the guide bar, less than A surgical blade cartridge according to claim 42, comprising at least one of the following:

44. Use a navigation system to confirm the position and / or orientation of the surgical saw blade. A method wherein the surgical saw blade includes an inner plate having a standard feature, The inner plate is partially positioned between the first plate and the second plate, This results in an opening in at least one of the first plate or the second plate. The method provides access to the aforementioned criterion features, and the method An instrument including a first tracking device, the distal end of the instrument is connected to the first plate or front By inserting through the opening of one of the second plates, the device The steps include positioning the distal end so that it contacts the reference feature on the inner plate, Based on the positioning step, the actual position and / or orientation of the reference feature is determined. The steps to take, Relationship between the mounting characteristics of the surgical manipulator and the reference characteristics of the surgical saw blade. The expected position and / or orientation of the reference feature based on predetermined geometric data corresponding to it. The steps to determine, The expected position and / or orientation of the reference feature and the actual position of the reference feature Steps to compare with orientation and A method that includes this.

45. The surgical manipulator is a handheld tool, robotic arm, or hand The method according to claim 44, which is one of the Ludrobots.

46. The process further includes the step of determining the actual position and orientation of the aforementioned mounting feature, Determining the expected position of the reference feature is equivalent to determining the actual position and orientation of the mounting feature. Furthermore, the method according to claim 44 or 45.

47. The actual position and orientation of the aforementioned mounting features are linked to kinematic data and the manipulator. The tracker data of the tracker, the encoder data from the manipulator, or these The method according to any one of claims 44 to 46, which can be obtained based on a combination.

48. The claim further includes the step of indicating the position of the saw blade relative to the surgical site. The method described in any one of paragraphs 44 to 47.

49. Based on the step of positioning the instrument, at least one feature of the surgical saw blade The method according to any one of claims 44 to 48, further comprising the step of determining sex.

50. Based on the determined position and / or orientation of the surgical saw blade, Any one of claims 44 to 49 further includes the step of navigating the saw blade. Methods used.

51. The surgical saw blade is operated using the surgical manipulator, and the surgical saw blade The blade head of the blade is rotated around the swivel plane defined by the inner plate. The method according to any one of claims 44 to 50, further comprising the step of [doing something].

52. While operating the surgical saw blade using the surgical manipulator, the outside The process further includes the step of applying a scientific saw blade to biological tissue and removing the biological tissue, The blade head has multiple teeth formed on it, and the cutting is performed by the blade head. To enable the insertion of the surgical saw blade into the surgical incision, the teeth are A claim that specifies the thickness of the blade head to be greater than or equal to the thickness of the guide bar of the saw blade. Method 51.

53. The blade head is connected to the surgical manipulator while it is in contact with biological tissue. Based on the position of the second tracking device, the position of the surgical saw blade relative to the target object is determined. Claim 51 further includes the step of determining the position and / or orientation of the distal end. Methods used.

54. The step of positioning the instrument involves navigating the tool center point of the surgical saw blade. The method according to any one of claims 44 to 53, for verifying against a system.

55. The tool center point corresponds to the pivoting surface defined by the inner plate. The method described in item 54.

56. Surgical sagittal saw blade cartridge, A guide bar including a first plate and a second plate, Between the first plate and the second plate at the distal end of the guide bar It comprises at least partially arranged blades, and the blades are A blade body including a proximal end and a distal end, It is positioned on the distal end of the blade body, and the distal end of the guide bar It includes a blade head extending from the part, and the blade head has teeth formed on it. The aforementioned teeth are Multiple basal teeth, Including the first leading tooth, The surgical sagittal saw blade cartridge further, Within the space defined between the first plate and the second plate of the guide bar It comprises at least one drive link that is movably positioned, and the at least one drive link The component has opposing proximal and distal ends, and the proximal end is a drive element of a surgical device. It is adapted to be mounted, and the distal end is the proximal end of the blade body. It is connected to the pivot surface, thereby allowing the reciprocating motion of at least one drive link to move across the pivot surface. This causes the surrounding blades to rotate, When the blade rotates, the base teeth are configured to move along the first arc. The first leading tooth is configured to move along the second arc. The second arc is distal to the first arc in a surgical sagittal saw blade cartridge. Ji.

57. The blade body has a first plane (plane) that extends between the proximal end and the distal end. 1) Defines the first plane and is oriented so that it is approximately perpendicular to the upper surface of the blade body. Divide the blade body into two equal parts. The blade head defines a second plane (plane 2) perpendicular to the first plane, The second plane divides the blade head into two equal parts, defining the upper and lower portions. The line of intersection of the first plane and the second plane defines the central axis of the blade body. The blade head defines a mirror surface (plane 3), and the mirror surface intersects the central axis. , defined so as to be oriented at a mirror angle from the second plane, The teeth further include a second leading tooth, and the blade head is such that the second leading tooth is in front It is configured to be a mirrored representation of the first leading tooth reflected on the mirrored surface. The surgical sagittal saw blade cartridge according to claim 56.

58. The surgical sagittal saw blade according to claim 57, wherein the mirror angle is greater than 0 and less than 90 degrees. Raid cartridge.

59. When the blade rotates, the second leading tooth moves along the second arc. A surgical sagittal saw blade cartridge as described in item 57.

60. The first leading tooth defines a first cutting edge having a rake angle of -10 to +10 degrees. , a surgical sagittal saw blade cartridge according to any one of claims 57 to 59.

61. The second leading tooth mirrors the rake angle of the first leading tooth with respect to the mirror surface. The surgical method according to claim 60, which defines a second cutting edge having a rake angle configured as follows. Cartridge for sagittal saw blades.

62. Each of the aforementioned basal teeth defines a basal tooth cutting edge having a rake angle of -20 to 20 degrees. , a surgical sagittal saw blade cartridge according to any one of claims 56 to 61.

63. The rake angle of the base tooth is set to 0 to 10 degrees relative to the rake angle of the first leading tooth. A surgical sagittal saw blade cartridge as defined in claim 62.

64. The aforementioned blade body, A first plane extending between the proximal end and the distal end of the blade body, , oriented approximately perpendicular to the upper surface of the blade body, the first divides the blade body into two equal parts. The plane and A second plane perpendicular to the first plane, which divides the blade body into two equal parts, the first part A second plane defining the second part and Define the area, The first leading tooth extends from the first portion defined by the second plane. Define the top, The basal tooth extends from the first and second portions defined by the second plane. Define the multiple vertices, The apex of the first leading tooth extends beyond each of the plurality of apex portions of the base tooth. The surgical sagittal saw blade cartridge according to claim 56.

65. The blade further includes a second leading tooth, The second leading tooth extends from the first portion defined by the second plane. Define the top, The apex of the second leading tooth extends beyond each of the multiple apexes of the base tooth, provided that, The surgical sagittal saw according to claim 64, wherein the first leading tooth extends shorter than the apex of the first leading tooth. Blade cartridge.

66. The first leading tooth and the second leading tooth are arranged asymmetrically across the first plane. A surgical sagittal saw blade cartridge according to claim 65.

67. The base teeth, when the blade body rotates around the pivoting surface, follow the first arc. It is configured to move in the following way, and the first leading tooth and the second leading tooth are second It is configured to move along the arc of a circle, The surgical sagittal saw according to claim 65, wherein the second arc is distal to the first arc. Blade cartridge.

68. The first leading tooth defines a first cutting edge having a rake angle of -10 to +10 degrees. A surgical sagittal saw blade cartridge according to any one of claims 64 to 67.

69. The second leading tooth defines a second cutting edge having a rake angle of -10 to +10 degrees. , a surgical sagittal saw blade cartridge according to any one of claims 64 to 68.

70. Each of the aforementioned basal teeth defines a basal tooth cutting edge having a rake angle of -20 to 20 degrees. A surgical sagittal saw blade cartridge according to any one of claims 64 to 69.

71. The rake angle of the base tooth is the line connecting the tooth tip of the rake face and the blade pivot axis. The temperature is set to -10 to 10 degrees, as described in any one of claims 68 to 70. Surgical sagittal saw blade cartridge.

72. The pivoting surface is positioned between the first plate and the second plate, claim A surgical sagittal saw blade cartridge as described in any one of paragraphs 56 to 71.

73. The pivoting surface includes a pin having both ends, and each of the two ends is the first plate The surgical device according to claim 72, connected to one of the two plates, the to and the second plate. Sagittal saw blade cartridge.

74. The aforementioned rotating surface includes a rotating boss, and the rotating boss is defined by the guide bar. A surgical sagittal saw blade cartridge as described in item 72.

75. The proximal end of the blade is configured to contact the swivel surface in a recessed slot. A surgical sagittal saw blade cartridge according to any one of claims 56 to 74, which defines the Jig.

76. Including a proximal end and a distal end, a swivel plane is defined between the proximal end and the distal end. A surgical blade for a sagittal saw blade cartridge, A brake that includes a proximal end and a distal end and is configured to pivot around the pivoting surface. The main body and Displaced on the distal end of the blade body, in front of the sagittal saw blade cartridge It comprises a blade head extending from the distal end, and the blade head has teeth formed on it. The teeth are, Multiple basal teeth, The first leading tooth and, The second leading tooth and Includes, The aforementioned surgical blade further, A first plane (plane 1) extends between the proximal end and the distal end of the blade body. ) and oriented approximately perpendicular to the upper surface of the blade body, thereby aligning the blade body to two equal parts. The first plane that divides, A second plane (plane 2) perpendicular to the first plane, which divides the blade body into two equal parts. It comprises a second plane that defines the upper and lower portions, The intersection line of the first plane (plane 1) and the second plane (plane 2) is the blade body Define the central axis, The aforementioned surgical blade further, It intersects the central axis and forms a mirror angle (θ) measured from the second plane (plane 2). It comprises a mirror surface (plane 3) configured to be oriented in a certain way, The blade head is such that the second leading teeth are reflected with respect to the mirror surface (plane 3). A sagittal saw blade cartridge is configured to be a mirror image of the first leading tooth. A surgical blade.

77. When the blade body rotates around the pivoting surface, the base teeth move along the first arc. It is configured to move in the following way, and the first leading tooth and the second leading tooth are second It is configured to move along the arc of a circle, The surgical sagittal saw according to claim 76, wherein the second arc is distal to the first arc. Blade cartridge.

78. The surgical sagittal saw blade according to claim 77, wherein the mirror angle is greater than 0 and less than 90 degrees. Raid cartridge.

79. The first leading tooth defines a first cutting edge having a rake angle of -10 to +10 degrees. , the surgical sagittal saw blade cartridge according to claim 76.

80. The second leading tooth mirrors the rake angle of the first leading tooth with respect to the mirror surface. A surgical sagittal saw blade according to claim 79, defining a second cutting edge having a mirrored representation. Cartridge.

81. Each of the aforementioned basal teeth defines a basal tooth cutting edge having a rake angle of -20 to 20 degrees. A surgical sagittal saw blade cartridge according to any one of claims 76 to 80.

82. The rake angle of the base tooth is the line connecting the tooth tip of the rake face and the blade pivot axis. The surgical procedure according to any one of claims 56 to 81, set to 0 to 10 degrees relative to the surgical field. Cartridge for sagittal saw blades.

83. Including a proximal end and a distal end, a swivel plane is defined between the proximal end and the distal end. A surgical blade, A brake that includes a proximal end and a distal end and is configured to pivot around the pivoting surface. The main body and The blade comprises a blade head positioned on the distal end of the blade body, The head has teeth formed on it, and these teeth are Multiple basal teeth, Including the first leading tooth, The aforementioned surgical blade further, A first plane extending between the proximal end and the distal end of the blade body, , oriented approximately perpendicular to the upper surface of the blade body, the first divides the blade body into two equal parts. The plane and A second plane perpendicular to the first plane, which divides the blade body into two equal parts, the first part A second plane defining the second part and Equipped with, The first leading tooth defines the first apex with respect to the swivel surface, The base teeth define a second apex with respect to the pivot surface, The first apex of the first leading tooth is distal to the second apex of the basal tooth. Surgical blade.

84. The blade further comprises a second leading tooth, The second leading tooth defines the third apex with respect to the pivoting surface, The apex of the second leading tooth is distal to the base tooth, and the first leading tooth The surgical blade according to claim 83, located proximal to the first apex.

85. The first leading tooth and the second leading tooth are arranged asymmetrically across the first plane. The surgical blade according to claim 84.

86. When the blade body rotates around the pivoting surface, the blade head moves The first leading tooth is configured to move along a first arc, The second leading tooth is configured to move along a second arc, The basal tooth is configured to move in a third arc, The first arc is distal to the second arc and the third arc, Claim 83, wherein the second arc is configured to be distal to the third arc. Surgical blade as described.

87. The first leading tooth defines a first cutting edge having a rake angle of -10 to +10 degrees. or the surgical blade according to any one of claims 83 to 86.

88. The second leading tooth defines a second cutting edge having a rake angle of -10 to +10 degrees. or the surgical blade according to any one of claims 83 to 87.

89. Each of the aforementioned basal teeth defines a basal tooth cutting edge having a rake angle of -20 to 20 degrees. or the surgical blade according to any one of claims 83 to 88.

90. The rake angle of the base tooth is the line connecting the tooth tip of the rake face and the blade pivot axis. The temperature is set to -10 to 10 degrees, as described in any one of claims 87 to 89. Surgical blade.

91. It features a blade head with leading teeth that extend distally beyond multiple adjacent basal teeth. A method of cutting biological tissue using a surgical blade, wherein the blade head is The blade head is divided into two equal parts by a first plane that is roughly parallel to the upper surface of the blade head, forming the first part. The second portion is defined, and the leading tooth is positioned on the first portion and the plurality of base teeth The method is configured to extend further distally, Before any of the plurality of basal teeth come into contact with the biological tissue, the first leading tooth The surgical blade is positioned so as to come into contact with the biological tissue. Automatically controlling the surgical manipulator to position it on the target plane, While the blade is on the target plane, the surgical manipulator is used to... Activating the radar and Methods that include...

92. A surgical sagittal saw blade cartridge for use with surgical devices, The system includes a guide bar with a distal portion and a proximal portion, and the guide bar is The first plate and The second plate, Displaced between the first plate and the second plate, a pivoting surface, a first opening The inner plate that defines and Includes, The surgical sagittal saw blade cartridge further, Between the first plate and the second plate at the distal end of the guide bar It comprises at least partially positioned blades, the blades being in front of the inner plate. It has a blade body that defines a second pivoting surface for pivoting around the aforementioned pivoting surface, One of the first and second plates is the first of the proximal portion of the guide bar Define the outer edge, The inner plate defines the second outer edge of the proximal portion of the guide bar, and the guide The dobar's second outer edge is defined by one of the first and second plates. It is formed to extend beyond the defined first outer edge, The first opening of the inner plate, and the front defined by the inner plate The combination of the second outer edge of the proximal portion of the guide bar is the saw blade cart A surgical device configured to align the ridge axially with respect to the surgical device Sagittal saw blade cartridge.

93. The guide bar has a second outer edge portion that is the distal portion and the proximal portion of the guide bar. With respect to the longitudinal axis extending between the minutes, one of the first and second plates It is further formed to extend laterally beyond the defined first outer edge. , the surgical sagittal saw blade cartridge according to claim 92.

94. The pivoting surface defines a radius having a center, and the center of the pivoting surface is on the longitudinal axis. It is positioned as follows: The combination of the first opening and the second opening of the inner plate is the rotation The rotating surface is further configured to be aligned axially with respect to the surgical device. A surgical sagittal saw blade cartridge as described in item 92.

95. Each of the first opening and the second opening is positioned along the longitudinal axis. A surgical sagittal saw blade cartridge according to claim 92 or 94.

96. The guide bar defines a second opening, and the second opening allows the guide bar to... A receiving post for a surgical device, which is used to detachably secure the surgical device to the surgical device. A keyhole-shaped opening configured as described in any one of claims 92 to 95. Surgical sagittal saw blade cartridge.

97. A surgical sagittal saw blade cartridge for use with surgical devices, The system includes a guide bar with a distal portion and a proximal portion, and the guide bar is The first plate and The second plate, Displaced between the first plate and the second plate, a pivoting surface, a first opening , and an inner plate defining a second opening Includes, The surgical sagittal saw blade cartridge further, The guide bar extends between the distal portion and the proximal portion, and the guide bar is divided into two equal parts. A longitudinal axis configured to divide, Between the first plate and the second plate at the distal end of the guide bar A blade that is at least partially positioned around the pivoting surface of the inner plate. A blade having a blade body that defines a swivel surface for rotation Equipped with, One of the first and second plates is the first of the proximal portion of the guide bar Define the outer edge, The inner plate defines the second outer edge of the proximal portion of the guide bar, and the guide The dobar's second outer edge is defined by one of the first and second plates. It is formed to extend beyond the defined first outer edge, Each of the first opening and the second opening is positioned along the longitudinal axis. It is being done, The combination of the first opening and the second opening of the inner plate is the saw The blade cartridge is configured to be aligned axially with respect to the surgical device. A surgical sagittal saw blade cartridge.

98. The combination of the first opening and the second opening of the inner plate is The rotating surface is further configured to be aligned axially with respect to the surgical device. , the surgical sagittal saw blade cartridge according to claim 97.

99. A surgical blade cartridge for use with surgical devices, The first plate and The second plate, A rotating surface, a first opening, and an inner plate defining a reference feature, the reference feature The indicator is the position and / or orientation of the surgical blade relative to the navigation system. An inner plate configured to facilitate the decision of at least one of our parties, Equipped with, At least one of the first plate or the second plate is the inner plate An opening is defined that is configured to provide access to the aforementioned reference features on the to, The first opening in the inner plate is the pivoting surface relative to the surgical device A surgical blade cartridge configured to align the center of its radius along the axial direction.

100. The center of the radius of the pivot surface, the first opening, and each of the reference features are and are positioned on the inner plate, extending between the distal and proximal portions of the inner plate The surgical blade cartridge according to claim 99 is positioned on the longitudinal axis. Ji.

101. The external aspect of a surgical manipulator to which a surgical saw blade is connected via a mounting feature A method for confirming the effectiveness of the installation of a saw blade, wherein the method involves a first tracking device Using a navigation system that includes an instrument with a tip and distal end, the surgical saw blade The plate includes an inner plate having a reference feature, and the inner plate is a first plate It is partially positioned between the second plate and the first and / or second plate. The first plate or the second plate is the standard The shape is configured to provide access to features, and the method is Using the navigation system, the distal tip of the instrument corresponds to the reference feature. The steps include tracking the first tracking device while it is positioned in contact with the other device, Using the navigation system, the reference features are implemented based on the tracking step. A step of determining the position and orientation of the edge, Using the navigation system, the actual position and orientation of the reference feature are determined in advance. The step includes comparing the expected position and orientation of the reference feature, and the expected position and orientation However, the mounting features of the surgical manipulator and the reference features of the surgical saw blade It is based on predetermined geometric data corresponding to the relationship between, method.

102. At least one of the first plate or the second plate is the standard special Includes an opening to provide access to the mark, The method involves placing the distal end of the instrument on the first plate or the second plate. Steps to position the object through one of the openings so as to abut the reference feature. The method according to claim 101, further comprising:

103. Based on the actual position and orientation of the aforementioned reference features, the characteristics of the surgical saw blade are determined. The method according to claim 101, further comprising the step of separating.

104. A method for attaching a surgical saw blade to a surgical manipulator, wherein the surgical saw blade The rade is partially positioned between two outer plates. Including an inner plate, the inner plate includes a first opening, a second opening, and a pivoting surface The method defines the and, The surgical saw blade is positioned in the first opening where the alignment post of the surgical manipulator is located. The connecting post of the surgical manipulator is located at the second opening of the inner plate. To position it within the department, Slide the inner plate proximal toward the surgical manipulator, Alignment posts and connecting posts are placed inside the first opening and the second opening, respectively. Moving from the proximal position to the distal position within the first and second openings. This aligns the inner plate axially with respect to the surgical manipulator. Toto A method that includes this.

105. A method for assembling a surgical sagittal saw, The alignment post of the surgical manipulator is positioned to hold the surgical saw blade. Located within the first opening, the connecting post of the surgical manipulator is the surgical saw By positioning it so as to be located within the second opening of the blade, the surgical saw blade Attaching the cord to the surgical manipulator, Slide the surgical saw blade proximally toward the surgical manipulator. The alignment post and the connecting post are connected to the first opening and the second opening, respectively. Move from the proximal position within the section to the distal position within the first opening and the second opening. thing and Includes, When the alignment post is positioned at the distal position within the first opening, It is sized to engage simultaneously with the opposing side of opening 1, and the surgical saw blade When the blade slides proximal toward the surgical manipulator, the surgical saw blade A method for aligning a cord axially with respect to the surgical manipulator.

106. A surgical sagittal saw blade cartridge for use with surgical devices, The system includes a guide bar with a distal portion and a proximal portion, and the guide bar is The first plate and The second plate, Displaced between the first plate and the second plate, the inner part defines the pivot surface. Inner plate including tines and Includes, The surgical sagittal saw blade cartridge further, The guide bar extends between the distal portion and the proximal portion, and the guide bar is divided into two equal parts. A longitudinal axis configured to divide, Between the first plate and the second plate at the distal end of the guide bar A blade, at least partially positioned, around the swivel surface of the inner tine. A blade having a blade body that defines a rotating surface for turning, Equipped with, One of the first and second plates is the first of the proximal portion of the guide bar Define the outer edge, The inner plate defines the second outer edge of the proximal portion of the guide bar, and the guide The dobar has the second outer edge that is aligned with the first and second plates with respect to the longitudinal axis. Formed to extend laterally beyond the first outer edge defined by one of the two. It is done, At least one of the first plate and the second plate is the inner In the weld formed between the first plate and / or the second plate Therefore, the surgical sagittal saw blade cartridge is connected to the inner plate.

107. The inner tine further defines the first opening, and the first opening faces the pivoting surface. The surgical device according to claim 106, configured to be aligned with the surgical device. Cartridge for sagittal saw blades.

108. A saw blade cartridge for use with surgical devices, The system includes a guide bar with a distal portion and a proximal portion, and the guide bar is The first plate and The second plate and Includes, The first plate is connected to the second plate, and the first plate is Including the rotating surface, The aforementioned saw blade cartridge further, A blade is at least partially positioned between the first plate and the second plate. The blade is equipped with a cu, A blade body including a proximal end and a distal end, Displaced on the distal end of the blade body and extending from the distal portion of the guide bar It includes a blade head configured to extend, the blade head having teeth formed on it. The blade body is in contact with the swivel surface, The aforementioned proximal portion defines the proximal end, The first plate defines the first outer edge, The second plate defines the second outer edge, The guide bar is configured such that the first outer edge extends beyond the second outer edge. It is done, The first outer edge extends from the proximal end to the distal end of the proximal portion of the guide bar. It has an outward taper, so that the first outer edge is the saw blade cartridge A saw blade cartridge that assists in aligning it with the surgical device.

109. A saw blade cartridge for use with surgical devices, The system includes a guide bar with a distal portion and a proximal portion, and the guide bar is The first plate and The second plate, It is partially positioned between the first plate and the second plate, defining the pivot surface. The inner plate and Includes, The aforementioned saw blade cartridge further, A blade is at least partially positioned between the first plate and the second plate. It is a code, A blade body including a proximal end and a distal end, The distal end of the blade body is positioned on the distal portion of the guide bar. It includes a blade head configured to extend from, the blade head having teeth The blade is configured such that the proximal end of the blade body is in contact with the swivel surface. and, The longitudinal axis extending between the distal portion and the proximal portion of the guide bar Equipped with, The aforementioned proximal portion defines the proximal end, One of the first and second plates is the first of the proximal portion of the guide bar Define the outer edge, The inner plate defines the second outer edge of the proximal portion of the guide bar. The second outer edge is formed by one of the first and second plates. A saw blade cartridge extending beyond the first defined outer edge.

110. A saw blade cartridge for use with surgical devices, The system includes a guide bar with a distal portion and a proximal portion, and the guide bar is The first plate and The second plate, It is partially positioned between the first plate and the second plate, defining the pivot surface. An inner plate configured to include Includes, The aforementioned saw blade cartridge further, A blade is at least partially positioned between the first plate and the second plate. The blade is equipped with a cu, The guide bar has a longitudinal axis extending between the distal portion and the proximal portion, The aforementioned proximal portion defines the proximal end, One of the first and second plates defines the first outer edge, The inner plate defines a second outer edge, and the second outer edge is the first and second It extends beyond the first outer edge defined by one of the plates, The second outer edge portion has an outward taper from the proximal end to the distal end of the proximal portion. As a result, the second outer edge portion connects the saw blade cartridge to the surgical device. Helps to align things, The inner plate determines the position of the surgical blade using the navigation system. A reference feature configured to facilitate the determination of at least one of the following: Furthermore, At least one of the first plate or the second plate is the inner plate The saw blade is shaped to provide access to the aforementioned reference features of the rate. Tridge.

111. A surgical saw system, A surgical device having a mount, wherein the mount defines the mounting surface, T, Connecting posts and Queue post and Includes, The surgical saw system further, A saw blade cartridge that can be detachably connected to the mount of the surgical device The saw blade cartridge is equipped with, A guide bar including a distal portion and a proximal portion, Inner plate defining the rotation surface, first opening, and second opening Guide bars including, A blade positioned at the distal end of the guide bar, the inner plate A blade having a blade body that defines a swivel surface for swiveling around a swivel surface. Equipped with, The first opening receives the alignment post of the mount and is slidably connected to it. Sized to engage, the saw blade cartridge connects to the surgical device Align with respect to the axial direction, The second opening is sized to receive the connecting post of the mount. The saw blade cartridge is detachably connected to the surgical device, Saw system for general use.

112. The aforementioned guide bar, The first plate and The second plate and It further includes, The inner plate is positioned between the first plate and the second plate. 、 The blade is at least partially between the first plate and the second plate. A surgical saw system according to claim 111, arranged as follows.

113. The first plate defines a third opening, and the second plate defines a fourth opening. The third and fourth openings are determined to be concentric with the first opening of the inner plate. It is formed in Each of the third and fourth openings formed in the first and second plates is The present invention relates to defining an opening larger than the first opening of the inner plate as described in claim 112. A surgical saw system.

114. The alignment post includes a pin, and the first opening is a stadium-shaped opening with opposing sides. Including the mouth portion, each of the opposing sides is oriented so as to be substantially parallel to the longitudinal axis. Occasionally, The opposing side is the opposing side when the alignment post is positioned in the first opening. Claim 11, each surface is spaced apart from one another so as to engage with the outer surface of the alignment post. A surgical saw system as described in 1 or 112.

115. The surgical device comprises a robotic arm, any one of claims 111 to 114 The surgical saw system described in the section.

116. The surgical device comprises a handheld surgical saw, any of claims 111 to 114 A surgical saw system as described in item 1.

117. A surgical saw system, A surgical device comprising a mount, wherein the mount defines the mounting surface, T, The first wall and the second wall extend above the mounting surface, and the longitudinal part of the mount The saw blade cart is positioned on the opposite side of the directional axis and is aligned with the longitudinal axis. The mount is tapered relative to its longitudinal axis to facilitate ridge alignment. The first wall and the second wall, At least one tab is located on each of the first and second walls, the small At the very least, each of the tabs is positioned above the mounting surface so as to cover and extend over the mounting surface. At least one tab is attached and Includes, The surgical saw system further, A saw blade cartridge that can be detachably connected to the mount of the surgical device The saw blade cartridge is equipped with, The system includes a guide bar with a distal portion and a proximal portion, and the guide bar is The first plate and The second plate, An inner plate partially positioned between the first plate and the second plate. and Includes, One of the first and second plates defines the first outer edge, The inner plate is configured to define the second outer edge, and the second outer edge The portion is defined by the first outer edge portion of the first plate. It extends beyond, Each of the first and second walls engages with the second outer edge of the inner plate, A surgical sawtooth in which the lower surface of at least one tab engages with the upper surface of the inner plate. Tem.

118. The mount further includes at least one of a connecting post and an aligning post, The inner plate further comprises at least one of the first opening and the second opening. Defined, The first opening receives the alignment post of the mount and is slidably connected to it. The second opening is sized to engage with the connecting port of the mount. It is sized to receive the first of the inner plate At least one of the openings of the first and second walls is the first and second walls In combination with engaging with the second outer edge, the saw blade cartridge is used for the surgical The surgical device according to claim 117, configured to be aligned axially with respect to the device. Saw system for general use.

119. The surgical device comprises a robotic arm, as described in claim 117 or 118. Scientific saw system.

120. The surgical device comprises a handheld surgical saw, as described in claim 117 or 118. A surgical saw system.

121. A saw blade cartridge for use with surgical devices, A guide bar including a distal portion and a proximal portion, The first plate and The second plate and Guide bars including, A blade is at least partially positioned between the first plate and the second plate. The blade is equipped with a , A blade body including a proximal end and a distal end, The distal end of the blade body is positioned on the distal portion of the guide bar. A blade head configured to extend from the blade head, the blade head having teeth formed on it. dd and Includes, The blade head has one or more holes to allow the fragments to escape. Defines, saw blade cartridge.

122. A method for manufacturing saw blade cartridges for use with surgical manipulators. There is, Within the blank material piece that will become the blade head of the saw blade cartridge, one or more The steps of forming a number of holes, The blank is machined, and based on the location and / or position of the one or more holes The steps include forming one or more teeth at the location on the blank. A method that includes this.

123. Claims that the step of machining the blank includes grinding the blank. Method 122.

124. A surgical sagittal saw blade cartridge for use with surgical devices, A guide bar including a distal portion and a proximal portion, The first plate and Including the second plate, One of the first and second plates is a guide bar that defines the pivoting member, The guide bar extends between the distal portion and the proximal portion, and the guide bar is divided into two equal parts. A longitudinal axis configured to divide, Between the first plate and the second plate at the distal end of the guide bar A blade, at least partially positioned, for pivoting around the pivoting surface. A blade having a blade body that defines the surface of rotation Equipped with, The guide bar is the first outer edge of the proximal portion of the guide bar and the guide bar The guide bar has a second outer edge portion of the proximal portion, and the second outer edge portion of the guide bar is the first It is formed to extend beyond the outer edge, One of the plates defining the pivoting member is positioned along the longitudinal axis. Including the first opening that is installed, The combination of the first opening and the second outer edge is the saw blade cartridge A surgical sagittal Saw blade cartridge.

125. A surgical sagittal saw blade cartridge for use with surgical devices, A guide bar including a distal portion and a proximal portion, The first plate and Including the second plate, One of the first and second plates is a guide bar that defines the pivoting member, The guide bar extends between the distal portion and the proximal portion, and the guide bar is divided into two equal parts. A longitudinal axis configured to divide, Between the first plate and the second plate at the distal end of the guide bar A blade, at least partially positioned, for pivoting around the pivoting surface. A blade having a blade body that defines the surface of rotation Equipped with, The guide bar is the first outer edge of the proximal portion of the guide bar and the guide bar The guide bar has a second outer edge portion of the proximal portion, and the second outer edge portion of the guide bar is the first It is formed to extend beyond the outer edge, The second outer edge portion is axially positioned relative to the surgical device the saw blade cartridge. A surgical sagittal saw blade cartridge configured to align in a specific direction.

126. Used with surgical devices and a surgical navigation system using a positioning tool. A saw blade cartridge for alignment using a system, The system includes a guide bar with a distal portion and a proximal portion, and the guide bar is The first plate and The second plate, An inner plate partially positioned between the first plate and the second plate. and Includes, One of the first and second plates accesses the surface of the inner plate. An opening is defined for providing a space, and the opening defines a first region and a second region. It is shaped to do so, The first region has a first size and is configured to receive the insertion of an alignment tool. It has been done, The second region has a second size smaller than the first size, and the position Position the alignment tool on the reference feature on the guide bar and / or the inner plate. It is configured in such a way, The aforementioned saw blade cartridge further, A blade is at least partially positioned between the first plate and the second plate. A saw blade cartridge equipped with a cord.

127. A saw blade cartridge for use with surgical devices, The system includes a guide bar with a distal portion and a proximal portion, and the guide bar is The first plate and The second plate, An inner plate partially positioned between the first plate and the second plate. and an inner plate configured to define the pivoting surface Includes, The aforementioned saw blade cartridge further, A blade is at least partially positioned between the first plate and the second plate. The blade is equipped with a cu, A blade body including a proximal end and a distal end, The distal end of the blade body is positioned on the distal portion of the guide bar. It includes a blade head configured to extend from, the blade head having teeth The blade body is formed such that the proximal end of the blade body abuts against the swivel surface, The surface of the inner plate has contact points for detachably engaging with the surgical device. Defined, One of the first and second plates is on the contact point on the inner plate. It is shaped to provide access, thereby on the inner plate The contact point helps to align the saw blade cartridge with the surgical device. , saw blade cartridge.

128. A surgical sagittal saw blade cartridge for use with surgical devices, The system includes a guide bar with a distal portion and a proximal portion, and the guide bar is The first plate and The second plate, Displaced between the first plate and the second plate, a pivoting surface, a first opening The inner plate that defines and Includes, The surgical sagittal saw blade cartridge further, Between the first plate and the second plate at the distal end of the guide bar It comprises at least partially positioned blades, the blades being in front of the inner plate. It has a blade body that defines a second pivoting surface for pivoting around the aforementioned pivoting surface, One of the first and second plates is the first of the proximal portion of the guide bar Define the outer edge, The inner plate defines the second outer edge of the proximal portion of the guide bar, and the guide The dobar's second outer edge is defined by one of the first and second plates. It is formed to extend beyond the defined first outer edge, The first opening of the inner plate, and the front defined by the inner plate At least one of the second outer edges of the proximal portion of the guide bar is the saw wobble The surgical cartridge is configured to be oriented toward the surgical device. Sagittal saw blade cartridge.

Images