Electric surgical impactor

Abstract

A motorized surgical impactor is provided. The motorized surgical impactor includes a housing, a stator disposed within the housing, a plurality of coils disposed around the stator and configured to be energized to generate a magnetic field, and a movable element disposed within the stator and configured to move within the stator in response to the energization of the plurality of coils. The motorized surgical impactor includes a hammer coupled to the movable element. The motorized surgical impactor includes a control device configured to measure the voltages of a first and second coil of a pair of coils among the plurality of coils, determine a back EMF signal based on the voltages of the first and second coils, and determine the motion parameters of the movable element based on the back EMF signal.

Description

Technical Field

[0004] , ,

[0001] Related Applications This application claims priority and the benefit thereof to U.S. Provisional Patent Application No. 63 / 525,393, filed on July 7, 2023, U.S. Provisional Patent Application No. 63 / 525,396, filed on July 7, 2023, U.S. Provisional Patent Application No. 63 / 525,405, filed on July 7, 2023, and U.S. Provisional Patent Application No. 63 / 525,410, filed on July 7, 2023, each of which is hereby incorporated by reference in its entirety.

[0002] Field of the Invention The present invention generally relates to surgical instruments. More specifically, the present invention relates to an electric surgical impactor having a stator and a rotor disposed within the stator.

Background Art

[0003] The attachment of prostheses such as hip implants is extremely important for patients. Manually driven tools play a crucial role in the surgical insertion of such prostheses. For example, a manually driven tool can be used to broach the cavity into which the prosthesis is inserted. Further, a manually driven tool can be used to drive the prosthesis into the anatomical structure so that the prosthesis is press-fitted into the anatomical structure. However, manually driven tools can give rise to problems that may prevent optimal results. There are a number of problems associated with manually driving a prosthesis into a patient. Manually driven tools are dependent on the surgeon's proficiency and lead to inconsistent force application. Further, manually driven tools cause fatigue in the surgeon, especially during hip implant surgery where the physical burden is high. Further, manually driven tools lack real-time feedback and monitoring capabilities, thus preventing the evaluation of the implant fixation state or requiring adjustments.

[0004] Therefore, there is a need in the technology field for an electric surgical impactor for delivering a tool to a patient that solves one or more of the above problems. [Overview of the project]

[0005] A first aspect of the disclosure relates to an electrically operated surgical impactor. The electrically operated surgical impactor includes a housing defining a longitudinal axis; a stator disposed within the housing and extending along the longitudinal axis between a proximal stator end and a distal stator end; a plurality of coils disposed around the stator and configured to be energized to generate a magnetic field; an armature disposed within the stator and extending along the longitudinal axis between a proximal movable end and a distal movable end, configured to move within the stator between the proximal stator end and the distal stator end in response to the energization of the plurality of coils; a hammer coupled to the armature; and a control device configured to measure the voltages of a first coil and a second coil of a pair of the plurality of coils, determine a back EMF signal based on the voltages of the first coil and the second coil, and determine the motion parameters of the armature based on the back EMF signal.

[0006] A second aspect of the disclosure relates to a method for operating the motorized surgical impactor of the first aspect.

[0007] A third aspect of the disclosure relates to a method for controlling a surgical impactor, comprising a stator and a movable element disposed within the stator, wherein the stator comprises a first coil and a second coil, the second coil being spaced apart from the first coil, the movable element comprising a plurality of magnets, the movable element being movable between a first position and a second position, the first position being spaced apart from the second position, and a hammer being coupled to the movable element, the method comprising: determining a first electrical parameter of the first coil when the movable element is in the first position; determining a second electrical parameter of the second coil when the movable element is in the first position; determining an electromagnetic factor based on the first and second electrical parameters; and determining a motion parameter of the movable element in the stator based on the electromagnetic factor.

[0008] A fourth aspect of the disclosure relates to an electrically operated surgical impactor, comprising: a housing defining a longitudinal axis; a stator disposed within the housing and extending along the longitudinal axis between a proximal stator end and a distal stator end, the stator comprising a plurality of coils arranged around the longitudinal axis and configured to be energized to generate a magnetic field, the plurality of coils comprising a first coil and a second coil; a movable element disposed within the stator and extending along the longitudinal axis between a proximal movable element end and a distal movable element end, the movable element comprising a plurality of magnets, the movable element configured to move within the stator between the proximal stator end and the distal stator end in response to the energization of the plurality of coils; and a control device configured to measure the electrical parameters of the first coil and the second coil when the movable element is in a first position, and to determine the position of the movable element based on the measured electrical parameters of the first coil and the second coil in the first position.

[0009] A fifth aspect of the disclosure relates to a linear motor system comprising: a stator extending along a longitudinal axis between a proximal stator end and a distal stator end; a plurality of coils arranged around the stator and configured to be energized to generate a magnetic field; a movable element arranged within the stator and extending along a longitudinal axis, the movable element being configured to move within the stator between the proximal stator end and the distal stator end in response to the energization of the plurality of coils; and a control device configured to measure the voltages of a first coil and a second coil of a pair of coils among the plurality of coils, determine a back EMF signal based on the voltages of the first coil and the second coil, and determine the motion parameters of the movable element based on the back EMF signal.

[0010] A sixth aspect of the disclosure relates to a method for operating the linear motor system of the fifth aspect.

[0011] A seventh aspect of the disclosure relates to an electrically operated surgical impactor. The electrically operated surgical impactor includes a housing that defines a longitudinal axis. The electrically operated surgical impactor further includes a stator located within the housing and extending along the longitudinal axis between a proximal stator end and a distal stator end; a plurality of coils located around the stator and configured to be energized to generate a magnetic field; and a movable element located within the stator and extending along the longitudinal axis between a proximal movable element end and a distal movable element end. The movable element is configured to move distally and proximal in relation to the stator along the longitudinal axis between a plurality of movable element positions in response to the energization of the plurality of coils. The plurality of movable element positions include a proximal movable element position in which the movement of the movable element relative to the stator is restricted to the proximal direction, and a distal movable element position in which the movement of the movable element relative to the stator is restricted to the distal direction. The electrically operated surgical impactor further includes a hammer coupled to the distal end of the movable element of the movable element so as to move with the movable element in response to the energization of multiple coils. The hammer defines a hollow region defined by the proximal impact surface and the distal impact surface. The portion of the hammer defining the hollow region is at least partially located within the stator when the movable element is in the proximal movable element position. The electrically operated surgical impactor further includes an anvil assembly. The anvil assembly includes a shaft supported by a housing for translational movement distally and proximally along its longitudinal axis. The shaft extends between a distal shaft end positioned to support a tool and a proximal shaft end. The anvil assembly also includes an anvil supported by the proximal shaft end of the shaft and located within the hollow region of the hammer. The anvil includes a distal impact surface and a proximal impact surface. The proximal impact surface of the anvil is positioned to be struck by the proximal impact surface of the hammer as the movable element moves distally to urge the shaft and tool distally.

[0012] Any embodiment described below may be incorporated in part or in whole with any of the embodiments described above.

[0013] In some embodiments, the movable element may include a magnet configured to generate a magnetic field. In some embodiments, a battery may be electrically connected to a plurality of coils, and the battery is configured to supply current to the plurality of coils in order to energize the plurality of coils so that the plurality of coils generate a magnetic field.

[0014] In some embodiments, the magnet of the movable element may be adjacent to one of the first coil and the second coil, and in order to determine the back EMF signal, the control device may be configured to subtract the measured voltage of the other of the first and second coils from the measured voltage of one of the first and second coils. In some embodiments, the voltage of the first coil includes the back EMF signal, which is generated in response to the movable element's magnet being adjacent to the first coil. In some embodiments, the plurality of coils includes two pairs of coils, where the first pair of coils is electrically connected in series, the second pair of coils is electrically connected in series, and the first pair of coils is electrically connected in parallel with the second pair of coils. In some embodiments, the battery may be configured to supply current to a first pair of coils such that the first coil of the first pair generates a first magnetic field and the second coil of the first pair generates a second magnetic field, and to supply current to a second pair of coils such that the first coil of the second pair generates a third magnetic field and the second coil of the second pair generates a fourth magnetic field. In some embodiments, the battery may be electrically connected to a control device, which may be configured to control the battery to supply current to one of the first pair of coils and the second pair of coils based on determined motion parameters of a movable element.

[0015] In some embodiments, the plurality of coils may include a first pair, a second pair, a third pair, and a fourth pair of coils, wherein the first pair of coils is electrically connected in series, the second pair of coils is electrically connected in series, the third pair of coils is electrically connected in series, and the fourth pair of coils is electrically connected in series, and the first pair, the second pair, the third pair, and the fourth pair of coils are electrically connected in parallel with each other. In some embodiments, the battery may be configured to supply current to a first pair of coils such that the first coil of the first pair generates a first magnetic field and the second coil of the first pair generates a second magnetic field; to supply current to a second pair of coils such that the first coil of the second pair generates a third magnetic field and the second coil of the second pair generates a fourth magnetic field; to supply current to a third pair of coils such that the first coil of the third pair generates a fifth magnetic field and the second coil of the third pair generates a sixth magnetic field; and to supply current to a fourth pair of coils such that the first coil of the fourth pair generates a seventh magnetic field and the second coil of the fourth pair generates an eighth magnetic field. In some embodiments, the control device may be configured to control the battery to supply current to one of the first, second, third, and fourth pairs of coils based on determined motion parameters of the movable element.

[0016] In some embodiments, the control device may be configured to measure the voltages of the first and second coils of a second pair of coils, determine a second back EMF signal based on the voltages of the first and second coils of the second pair of coils, and determine the motion parameters of the movable element based on the back EMF signal and the second back EMF signal.

[0017] These configurations, features, and advantages of this disclosure, as well as other configurations, features, and advantages, will be apparent to those skilled in the art. This disclosure is not intended to be limited to, or to, these configurations, embodiments, features, and / or advantages.

[0018] The illustrative descriptions are illustrated in detail with reference to the drawings. While the drawings represent schematic embodiments, they are not necessarily to scale, and some features may be exaggerated to better illustrate and illustrate the innovative aspects of the exemplary embodiments. Furthermore, the illustrative descriptions described herein are not intended to be comprehensive or to be limited to or restrict to the exact embodiments and configurations shown in the drawings and disclosed in the following detailed description.

[0019] The advantages of the present invention will be readily apparent, for they will be better understood by referring to the following detailed description when considered in relation to the accompanying drawings. [Brief explanation of the drawing]

[0020] [Figure 1] This is a perspective view of one configuration of the motorized surgical impactor according to this disclosure, with the tools combined. [Figure 2] Figure 1 is a plan view of the electrically powered surgical impactor. [Figure 3] Figure 1 is a side view of the electrically powered surgical impactor. [Figure 4] These are cross-sectional views of the electric surgical impactors shown in Figures 1-3, along line AA in Figure 2. [Figure 5] Figures 1 to 3 are exploded views of the electric surgical impactor 20. [Figure 6] Figures 1 to 5 show a series of operations of the electrically operated surgical impactor to generate a forward impact. [Figure 7] Figures 1 to 5 illustrate the sequence of operations of the electrically operated surgical impactor used to generate reverse impact. [Figure 8] This figure shows the configuration of the electrically operated surgical impactor according to this disclosure. [Figure 9] Figure 1 shows the motor of the electrically powered surgical impactor. [Figure 10]It is a view of the motor of the electric surgical impactor of FIG. 1, where the mover of the motor is moving relative to the stator of the motor. [Figure 11] It is a view of the series-parallel coil configuration of the coil of the motor of the electric surgical impactor of FIG. 1. [Figure 12] It is a flowchart of a method for controlling the motor of the electric surgical impactor of FIG. 1. [Figure 13] It is a graph of the back EMF waveform measured between the coils of the motor of the electric surgical impactor of FIG. 1. [Figure 14] It is a circuit diagram of the coil of the motor of the electric surgical impactor of FIG. 1. [Figure 15] It is a perspective view of a surgical impactor attachment according to the present disclosure, which is coupled to an electric handpiece and holds a tool to be driven into a patient. [Figure 16] It is a perspective view of the surgical impactor attachment of FIG. 15, where the housing is shown in dotted lines to show the internal components of the surgical impactor attachment. [Figure 17] It is an exploded perspective view of the surgical impactor attachment of FIG. 15. [Figure 18] It is a cross-sectional view of the surgical impactor attachment of FIG. 15. [Figure 19] It is a perspective view of the rotating member of the surgical impactor attachment of FIG. 15. [Figure 20] It is a cross-sectional view of the surgical impactor attachment of FIG. 15, which is sectioned to show the cooperation between the rotating member and the intermediate member. [Figure 21] It is another cross-sectional view of the surgical impactor attachment of FIG. 15, which is sectioned to show the cooperation between the intermediate member, the lever, and the impact hammer. [Figure 22] It is yet another cross-sectional view of the surgical impactor attachment of FIG. 15, which is sectioned to show the cooperation between the rotating member, the intermediate member, the lever, and the impact hammer. [Figure 23] It is an exploded view of the surgical impactor attachment of FIG. 15, showing the connection of the rotating member to an input shaft including a cam profile. [Figure 24A] Figure 15 is an exploded perspective view of the surgical impactor attachment, showing the landing of the cam profile and the studs of the aligned rotating member. [Figure 24B] Figure 15 is an exploded perspective view of a surgical impactor attachment, showing the studs of the rotating member that have been shifted relative to the landing of the cam profile due to overload conditions. [Figure 25A] Figure 15 shows another exploded perspective of the surgical impactor attachment, illustrating the landing of the cam profile and the studs of the aligned rotating member. [Figure 25B] Figure 15 is an exploded perspective view of a surgical impactor attachment, showing the stud of a rotating member that is shifted relative to the landing of the cam profile due to the lack of reaction force applied by the patient to the tool or prosthesis. [Figure 26] This is a perspective view of a surgical impactor attachment according to the present disclosure, which is coupled to an electric handpiece and supports a tool that is injected into a patient. [Figure 27] Figure 26 is a cross-sectional view of the surgical impactor attachment. [Figure 28] Figure 26 is an oblique cross-sectional view of the surgical impactor attachment. [Figure 29A] Figure 26 is a partial perspective view of the surgical impactor attachment, with some components obscured to show the components of the surgical impactor attachment in its home state. [Figure 29B] Figure 26 is a partial perspective view of the surgical impactor attachment, with some components obscured to show the components of the surgical impactor attachment in its connected state. [Figure 29C] Figure 26 is a partial perspective view of a surgical impactor attachment, with some components obscured to show the components of the surgical impactor attachment in a compressed state. [Figure 29D]Figure 26 is a partial perspective view of the surgical impactor attachment, with some components hidden to show the components of the surgical impactor attachment in the released state. [Figure 29E] Figure 26 is a partial perspective view of a surgical impactor attachment, with some components hidden to show the components of the surgical impactor attachment as a biasing member presses the impact hammer to the impact position so that it collides with the anvil to drive the tool into the patient. [Figure 30] Figure 26 is an exploded perspective view of the surgical impactor attachment. [Modes for carrying out the invention]

[0021] This disclosure relates, in general, to a number of configurations for a motorized surgical impactor 20 for driving in a tool 22 or prosthesis. The tool 22 or prosthesis is operably mounted on the motorized surgical impactor 20 and configured to be driven into the patient by the motorized surgical impactor 20. The tool 22 may be a surgical broach for preparing the intramedullary cavity of the femur to receive a prosthesis, but other tool 22 or prosthesis mountings requiring driving into the patient are also conceivable.

[0022] Figure 1 shows a perspective view of one exemplary configuration of the motorized surgical impactor 20 according to this disclosure, Figure 2 shows a plan view thereof, and Figure 3 shows a side view thereof. Referring to Figures 1 to 3, the motorized surgical impactor 20 includes a housing 24. In the exemplary configuration, the housing 24 is implemented as a pistol-shaped factor comprising a barrel portion 26 and a grip 28 extending substantially laterally from the barrel portion 26. In the exemplary configuration, the grip 28 supports one or more user input control devices 30 (implemented here as triggers 30) arranged for user engagement to operate the motorized surgical impactor 20. Additional details regarding the operation of the motorized surgical impactor 20 in response to user engagement with one or more user input control devices 30 will be described in more detail later. It should be noted that other configurations of one or more user input control devices 30 are possible. It should also be noted that other shape factors of the housing 24 are possible. In either case, the housing 24 of the electric surgical impactor 20 defines a longitudinal axis 32, and the impact motion of the tool 22 is performed along this longitudinal axis 32, as will be described in more detail later.

[0023] Figure 4 is a cross-sectional view of the motorized surgical impactor 20 of Figures 1-3, viewed along line AA of Figure 2, and Figure 5 is an exploded view of the motorized surgical impactor 20 of Figures 1-3, exploded along the longitudinal axis 32. As best shown in Figures 4 and 5, the motorized surgical impactor 20 also includes a motor 34, which may be referred to herein as a “linear motor”. The motor 34 includes a stator 36 located within a housing 24 (e.g., the barrel portion 26 of the housing 24) and extending along the longitudinal axis 32 between a proximal stator end 36P and a distal stator end 36D. The motor 34 of the motorized surgical impactor 20 further includes a plurality of coils 38 arranged around the stator 36 and configured to be energized to generate a magnetic field. Exemplary configurations of the plurality of coils 38 and their arrangement relative to the stator 36 will be described in further detail later.

[0024] Continuing to refer to Figures 4 and 5, the motorized surgical impactor 20 further includes a movable element 40 located within the stator 36. The movable element 40 extends along the longitudinal axis 32 between a proximal movable element end 40P and a distal movable element end 40D. The movable element 40 is configured to move along the longitudinal axis 32 relative to the stator 36 in response to the energization of a plurality of coils 38. More specifically, the movable element 40 is configured to move along the longitudinal axis 32 relative to the stator 36 in the distal direction D1 and the proximal direction D2 (opposite to the distal direction D1) between a plurality of movable element positions. As best shown in Figures 6A to 7C, the plurality of movable element positions include a proximal movable element position PAP and a distal movable element position DAP. In the proximal movable element position PAP, the movement of the movable element 40 relative to the stator 36 is restricted to the proximal direction D2. In the distal movable position DAP, the movement of the movable 40 relative to the stator 36 is restricted to the distal direction D1. The proximal movable position PAP and distal movable position DAP shown in Figures 6A to 7C are merely examples of the proximal movable position PAP and distal movable position DAP, and it should be recognized that other configurations are possible.

[0025] The movable element 40 may include a core 42 and a plurality of magnets 44 supported by the core 42. In some examples, the core 42 of the movable element 40 may be made of a magnetic material such as iron. In other examples, the core 42 of the movable element 40 may be made of a non-magnetic or weakly magnetic material. For example, in configurations where it is desirable for the movable element 40 to have a larger mass (e.g., for a motor 34 that generates a large force in a small package), the core 42 may be made of a denser non-magnetic or weakly magnetic metal such as austenitic stainless steel or U-238 depleted uranium. In other examples, the core 42 may be made of a less dense non-magnetic or weakly magnetic metal such as carbon fiber or aluminum. In further examples, the core 42 may be made of a polymer material, and the polymer material may be fiber-reinforced. It is also conceivable that the core 42 may be configured to have some compliance in order to isolate the plurality of magnets 44 from strong forces during the operation of the motor 34. Furthermore, in order to reduce the strong force between the multiple magnets 44 during the operation of the motor 34, the core 42 may also have flexible members placed between each of the multiple magnets 44.

[0026] In some examples, the motor 34 is implemented as an internal permanent magnet configuration. In these examples, multiple magnets 44 are implemented as permanent magnets, and some or all of the multiple magnets 44 are enclosed in / surrounded by a sleeve 46. The sleeve 46 may be made of a magnetic material such as iron. The sleeve 46 may have a solid configuration, or, if desired, may be patterned / contain voids to reduce mass. Here, by including the magnetic sleeve 46, the motor 34 can generate a greater force than a configuration in which the multiple magnets 44 are not enclosed in / surrounded by a sleeve 46, because, in response to the energization of the multiple coils 38, a reluctance force may be provided in addition to the magnetic force. Thus, the internal permanent magnet configuration can reduce the cost and / or size of the motor 34 and protect the multiple magnets 44 from damage during the operation of the motor 34. Other configurations of the motor 34 are possible. Additional details regarding specific configurations of the motor 34 according to this disclosure will be described in more detail later.

[0027] The electrically operated surgical impactor 20 further includes a hammer 48 coupled to the distal movable end 40D of the movable element 40 to move together with the movable element 40 in response to the energization of a plurality of coils 38. In some examples as shown through the drawings, the hammer 48 may be formed integrally with the movable element 40 (for example, integrally with the core 42) such that the hammer 48 extends distally D1 from the distal movable end 40D of the movable element 40. However, the hammer 48 may also be a separate component fixed to or otherwise coupled to the distal movable end 40D of the movable element 40. As best shown in Figure 4, the hammer 48 defines a hollow region 50 defined by the proximal impact surface 52P and the distal impact surface 52D. In the illustrated configuration, the hollow region 50 defines a hollow cylindrical cavity, but other configurations are possible. As will be explained in more detail later, the portion of the hammer 48 that defines the hollow region 50 is at least partially located within the stator 36 when the movable element 40 is in the proximal movable element position PAP (best shown in Figures 6A, 7B, and 7C).

[0028] The electrically operated surgical impactor 20 further includes an anvil assembly 54. One exemplary anvil assembly 54 includes a shaft 56 supported by a housing 24 for translational movement along a longitudinal axis 32 in the distal direction D1 and proximal direction D2. For example, in the configuration of Figure 4, the housing 24 is a distal housing portion 58 extending from the barrel portion 26, and includes a distal housing portion 58 that supports a first linear bearing 60 or similar to facilitate the translation of the shaft 56 relative to the housing 24 along the longitudinal axis 32 in the distal direction D1 and proximal direction D2. The hammer 48 may also support a second linear bearing 62 or similar to facilitate the translation of the shaft 56 relative to the hammer 48 (to be described in more detail later). In some examples, such as those shown in Figure 4, the second linear bearing 62 may define the distal end of the hollow region 50 of the hammer 48 to define the distal impact surface 52D, but other configurations are possible. Continuing to refer to Figure 4, the shaft 56 extends between a distal shaft end 56D and a proximal shaft end 56P. The distal shaft end 56D is positioned to support the tool 22. Specific configurations of the distal shaft end 56D for supporting the tool 22 are not limited for this disclosure. In one example, the distal shaft end 56D may include or be configured to support an adapter (not shown) configured to selectively engage with a coupler of the tool 22 to connect the tool 22 to the shaft 56. Other configurations are possible.

[0029] The anvil assembly 54 also includes an anvil 64 supported by the proximal shaft end 56P of the shaft 56 for movement with the shaft 56. For example, as shown in Figure 4, the anvil 64 may be at least partially located within the proximal shaft end 56P of the shaft 56 and may be fixed to or otherwise coupled to the proximal shaft end 56P. The anvil 64 includes a distal impact surface 66D and a proximal impact surface 66P. As best shown in Figure 4, the anvil 64 is located within the hollow region 50 of the hammer 48. By positioning the anvil 64 within the hollow region 50 of the hammer 48, the proximal impact surface 66P of the anvil 64 is positioned so that it is impacted by the proximal impact surface 52P of the hammer 48 when the movable element 40 moves distally D1 to press the shaft 56 and the tool 22 in the distal direction D1 (referred herein to as “forward impact”). The distal impact surface 66D of the anvil 64 is positioned to be impacted by the distal impact surface 52D of the hammer 48 when the movable element 40 moves in the proximal direction D2 to press the shaft 56 and the tool 22 in the proximal direction D2 (referred herein to as “reverse impact”). It should be noted that in the illustrated configuration, the anvil assembly 54 is configured to move independently of the hammer 48. In other words, the anvil assembly 54 is not always in a direct translational relationship with the hammer 48. Further details regarding the operation of the motorized surgical impactor 20 for performing forward impact and / or reverse impact will be described in more detail later.

[0030] In some examples, the distal housing portion 58 may define a restraining space 68. The restraining space 68 may be defined by a distal restraining surface 70D and a proximal restraining surface 70P. In these examples, the restraining member 72 may be positioned within the restraining space 68 and coupled to the shaft 56, so that the restraining member 72 abuts against the distal restraining surface 70D to restrict the movement of the shaft 56 in the distal direction D1 and abuts against the proximal restraining surface 70P to restrict the movement of the shaft 56 in the proximal direction D2. In the illustrated examples, the restraining member 72 is implemented as a washer coupled to the shaft 56 and extending radially from the shaft 56 (i.e., transversely to the longitudinal axis 32). Other configurations of the restraining member 72 are possible, such as a projection integrally formed with the shaft 56. Furthermore, in some examples as shown in Figure 4, a shaft biasing member 74 may be positioned between the proximal restraint surface 70P and the restraint member 72 to bias / press the shaft 56 in the distal direction D1. Other configurations for biasing / pressing the shaft 56 in the distal direction D1 are conceivable.

[0031] Various configurations are possible for positioning at least partially within the stator 36 the portion of the hammer 48 that defines the hollow region 50 when the movable element 40 is in the proximal movable element position PAP. In one example, referring to Figure 4, the stator 36 may define a stator length L1 between the proximal stator end 36P and the distal stator end 36D. In some examples, the movable element 40 may define a movable element length L2 (less than the stator length L1) between the proximal movable element end 40P and the distal movable element end 40D. For example, the movable element length L2 may be less than 80% of the stator length L1, less than 70% of the stator length L1, less than 60% of the stator length L1, less than 50% of the stator length L1, less than 40% of the stator length L1, etc. Furthermore, by positioning at least partially within the stator 36 the portion of the hammer 48 that defines the hollow region 50 when the movable element 40 is in the proximal movable element position PAP, the overall size / length of the motor 34 (and consequently the electric surgical impactor 20) can be reduced while maintaining the desired level of force output from the motor 34.

[0032] In the illustrated example, to facilitate positioning at least partially within the stator 36 the portion of the hammer 48 that defines the hollow region 50 when the movable element 40 is in the proximal movable element position PAP, the proximal movable element end 40P may be aligned (or substantially aligned) with the proximal stator end 36P when the movable element 40 is in the proximal movable element position PAP. Therefore, since the hammer 48 is coupled to the distal movable element end 40D of the movable element 40, the movable element length L2 is less than the stator length L1, so when the movable element 40 is in the proximal movable element position PAP, at least partially within the stator 36 the portion of the hammer 48 that defines the hollow region 50 is positioned (best shown in Figures 6A, 7B, and 7C). As best illustrated in Figures 6C and 7A, in these examples, when the movable element 40 is in the distal movable element position DAP, the distal movable element end 40D may be aligned (or substantially aligned) with the distal stator end 36D. To move the movable element 40 between multiple movable element positions for these configurations, multiple coils 38 may be arranged around the stator length L1 of the stator 36 (i.e., distributed between the proximal stator end 36P and the distal stator end 36D), so that the multiple magnets 44 of the movable element 40 are located in the magnetic field generated by at least some of the multiple coils 38 at all positions of movement of the movable element 40 between the multiple movable element positions. Specific details regarding the control / operation of the multiple coils 38 for such configurations will be described in more detail later.

[0033] Figures 6A to 6C illustrate a series of operations of the electrically operated surgical impactor 20 for generating a forward impact to press the shaft 56 and the tool 22 distally D (for example, to advance / drive the tool 22 further into the patient's anatomical structure). Referring first to Figure 6A, here the movable element 40 is in the proximal movable element position PAP, and the shaft 56 is “preloaded” against the anatomical structure to be impacted (i.e., subjected to force in the proximal direction D2), so that the anvil assembly 54 (particularly the shaft 56) is in its most proximal position, as defined by the restraining member 72 contacting the proximal restraining surface 70P. Here, the portion of the hammer 48 defining the hollow region 50 is located at least partially within the stator 36, as described above. Next, as shown in Figure 6B, during the operation of the electrically operated surgical impactor 20 for generating a forward impact, the movable element 40 is configured to move distally D1 in response to the energization of the multiple coils 38. Therefore, Figure 6B shows the proximal impact surface 52P of the hammer 48 making initial contact with the proximal impact surface 66P of the anvil 64 to impact the anvil 64 in the distal direction D1. Finally, referring to Figure 6C, when the movable element 40 reaches the distal movable element position DAP, the hammer 48 generates a positive impact (due to the movement / inertia of the movable element 40) that presses the anvil assembly 54 (particularly the shaft 56) and the tool 22 distally D1, causing the tool 22 to advance / drive further into the patient's anatomical structure (not shown). It should be noted that the sequence shown in Figures 6A–6C may be performed repeatedly in succession to generate a series of positive impacts to advance / drive the tool 22 further into the patient's anatomical structure. Further details regarding the control / operation of the multiple coils 38 for moving the movable element 40 from the proximal movable element position PAP to the distal movable element position DAP will be discussed later.

[0034] Figures 7A to 7C illustrate a series of operations of the electrically operated surgical impactor 20 for generating a reverse impact to press the shaft 56 and the tool 22 in a proximal direction D2 (for example, to remove the tool 22 from the patient's anatomical structure). Referring first to Figure 7A, here the movable element 40 is in the distal movable element position DAP, and the shaft 56 is “preloaded” for reverse movement (i.e., subjected to a force in the distal direction D1), thereby positioning the anvil assembly 54 (particularly the shaft 56) in its most distal position, as defined by the restraint member 72 contacting the distal restraint surface 70D. Next, as shown in Figure 7B, during the operation of the electrically operated surgical impactor 20 for generating a reverse impact, the movable element 40 is configured to move in a proximal direction D2 in response to the energization of a plurality of coils 38. Therefore, Figure 7B shows the distal impact surface 52D of the hammer 48 making initial contact with the distal impact surface 66D of the anvil 64 to impact the anvil 64 in the proximal direction D2. Finally, referring to Figure 6C, when the movable element 40 reaches the proximal movable element position PAP, the hammer 48 (due to the movement / inertia of the movable element 40) presses the anvil assembly 54 (particularly the shaft 56) and the tool 22 in the proximal direction D2, producing a reverse impact to remove the tool 22 from the patient's anatomical structure (not shown). It should be noted that the sequence shown in Figures 7A to 7C may be performed sequentially and repeatedly to produce a series of reverse impacts to remove the tool 22 from the patient's anatomical structure. Further details regarding the control / operation of the multiple coils 38 for moving the movable element 40 from the distal movable element position DAP to the proximal movable element position DAP will be discussed later.

[0035] In some embodiments, the electric surgical impactor 20 may further include an auxiliary biasing member 76 positioned to supplement the force generated by the motor 34 when the movable element 40 moves distally D1. By supplementing the force generated by the motor 34 when the movable element 40 moves distally D1, the inclusion of the auxiliary biasing member 76 can increase the acceleration of the movable element 40 relative to the stator 36, which can reduce the overall length of the motor 34 required to supply the desired force. In one example, referring to Figures 8A and 8B, the auxiliary biasing member 76 may be positioned between the proximal movable element end 40P and the rear surface 78 of the housing 24. Here, the auxiliary biasing member 76 is schematically shown as a spring, but other configurations such as a pneumatic piston or opposing magnets are possible. Referring to Figure 8A, when the motor 34 moves the movable element 40 in the proximal direction D2 toward the proximal movable element position PAP, the motor 34 compresses the auxiliary biasing member 76, mechanically storing the force generated by the motor 34. Therefore, referring to Figure 8B, when the motor 34 moves the movable element 40 in the distal direction D1 toward the distal movable element position DAP, the auxiliary biasing member 76 releases the previously stored mechanical energy, pushing the movable element 40 toward the distal direction D1 and compensating for the force generated by the motor 34 toward the distal direction D1. In other words, when the motor 34 moves the movable element 40 toward the distal movable element position DAP in the distal direction D1, the movable element 40 moves toward the distal direction D1 by both the energization of the multiple coils 38 and the release of stored mechanical energy by the auxiliary biasing member 76. In some examples, the motorized surgical impactor 20 may further include a biasing member release latch (e.g., an electromechanical latch) to selectively prevent the auxiliary biasing member 76 from pressing the movable element 40 distally D1. Other configurations are possible for implementing the auxiliary biasing member 76 to compensate for the force generated by the motor 34 when the movable element 40 moves distally D1.

[0036] In some embodiments, one or more dampers (not shown) may be positioned between the motor 34 and the housing 24, and / or within the motor 34. One or more dampers may be positioned to dampen / absorb impact energy between at least two of the housing 24, stator 36, and movable element 40 in the distal direction D1 and / or proximal direction D2. For example, one or more dampers may be positioned to suspend the stator 36 of the motor 34 from the housing to function as a passive and / or active suspension system for the motor 34 to reduce the force transmitted to the user of the electrically powered surgical impactor 20. One or more dampers may be implemented as springs, rubber spacers / bushings, electrically adjustable mechanical dampers, electromagnetic dampers, etc., or a combination thereof, to dampen the transmission of energy and / or impact to the user. In some examples, one or more dampers may be adjusted in real time to actively adjust the spring constant and / or damping constant of one or more dampers to dampen the transmission of energy and / or shock to the user. In some examples, the adjustment may be based on readings from accelerometers located in the motor 34 and / or housing 24. In addition or alternatively, in some embodiments, the masses of the housing 24, stator 36, and / or movable element 40 may be adjusted to achieve optimal damping behavior. For example, in one configuration, the mass of the housing 24 may be greater than or equal to the combined mass of the stator 36 and movable element 40, and the stator 36 has a mass greater than or equal to that of the movable element 40. In another example, in combination with the arrangement and parameters of one or more dampers, the masses of the housing 24, stator 36, and / or movable element 40 may be adjusted to offset the inertia of the housing 24, stator 36, and movable element 40 during motor operation. Other configurations for damping the transmission of energy and / or shock to the user are possible.

[0037] As shown in Figure 4, the motorized surgical impactor 20 may include a control unit CON and a power supply BAT. In some examples, the control unit CON and the power supply BAT may be integrated with the housing 24 and / or located inside the housing 24. In some examples, the control unit CON and the power supply BAT may be external to the housing 24. In the example in Figure 4, the control unit CON is located inside the grip 28 of the housing 24, and the power supply BAT is external to the grip 28 of the housing 24. The control unit CON may include any hardware and software architecture sufficient to be involved in the control / operation of the multiple coils 38. For example, the control unit CON may include a circuit board. The control unit CON may include a processor and memory such as non-volatile random access memory (NOVRAM). The power supply BAT may be a battery and / or include a rechargeable battery. The control unit CON may be electrically connected to the battery BAT and powered by the battery BAT. For example, the control unit CON may regulate the application of energizing signals and / or current from the battery BAT to the components of the motor 34. In the example shown in Figure 4, the control device CON is electrically connected to the battery BAT and the multiple coils 38, and the battery BAT is electrically connected to the multiple coils 38 via the control device CON. In such an example, the control device CON may adjust the application of current from the battery BAT to the multiple coils 38, thereby energizing the multiple coils 38 and generating a magnetic field.

[0038] An exemplary configuration of the motor 34 is shown in Figures 9 to 11. As shown, the motor 34 includes a stator 36 and a movable element 40. For simplicity, the stator 36 is partially shown in Figures 9 to 11. The stator 36 includes a plurality of coils 38, and the movable element includes a plurality of magnets 44. Generally, the magnetic field generated by the plurality of coils 38 interacts with the magnetic field generated by the magnets 44 of the movable element 40, causing the movable element 40 to move within the stator 38 between the proximal stator end 36P and the distal stator end 36D.

[0039] In the example in Figure 9, the multiple coils include eight coil packs, with the first coil pack being labeled "Coil Pack #1". In the example in Figure 9, the motor 34 is a three-phase motor, and each coil pack contains a coil corresponding to one of the three phases. As shown, each coil pack includes an A-phase coil, a B-phase coil, and a C-phase coil. Furthermore, each coil of the multiple coils 38 may be grouped into coil pairs with spaced-out coils. For example, referring to Figure 10, four such coil pairs A2-6, B2-6, A3-7, and B3-7 are shown. Here, coil A2 is spaced out from A6, coil B2 is spaced out from B6, coil A3 is spaced out from A7, and coil B3 is spaced out from B7. Referring to Figure 11, the coils of each coil pair are electrically connected in series, and each coil pair is electrically connected in parallel with other coil pairs of the corresponding phase. For example, in a configuration where multiple coils 38 include two pairs of coils for each phase, the coils of the first pair are electrically connected in series, the coils of the second pair are electrically connected in series, and the first pair of coils is electrically connected in parallel with the second pair of coils. In another configuration, where multiple coils 38 include four pairs of coils for each phase, the coils of the first pair are electrically connected in series, the coils of the second pair are electrically connected in series, the coils of the third pair are electrically connected in series, the coils of the fourth pair are electrically connected in series, and the coils of the first, second, third, and fourth pairs are electrically connected in parallel.

[0040] For each movable element position, the magnet 44 of the movable element is adjacent to different coils of the multiple coils 38. For example, in the example in Figure 9, the movable element 40 is located at the proximal movable element position PAP, and the magnet 44 of the movable element 40 is adjacent to coils A1 to C4. In the example in Figure 10, the movable element 40 is moving toward the distal stator end 36D such that the magnet 44 of the movable element 40 is adjacent to coils A3 to C6.

[0041] Referring to Figure 12, a method 100 is shown of controlling the operation of multiple coils 38 to move the movable element 40 from a proximal movable element position PAP to a distal movable element position DAP. During method 100, a control device CON controls the movement of the movable element 40 within the stator 36 based on motion parameters. For example, the control device CON may adjust the current supplied to the multiple coils 38 based on motion parameters. In one such example, the control device CON may determine which of the multiple coils 38 is supplied with current by the battery BAT, and which of the multiple coils 38 generates a magnetic field to move the movable element 40 based on motion parameters, as follows: The motion parameters may be one or more of the position, velocity, acceleration, or jerk of the movable element 40 within the stator 36. Thus, in one such example, the control device CON may adjust which of the multiple coils 38 is supplied with current based on the position of the movable element 40 within the stator 36. In another example, the control device CON may adjust which of the coils 38 is supplied with current based on the speed of the movable element 40 within the stator 36.

[0042] Method 100 may perform open-loop or closed-loop control of the motor 34 based on motion parameters. In particular, this method includes a step 102 for open-loop control of the motor 34 and a step 120 for closed-loop control of the motor 34. Generally, during Method 100, the control device CON performs open-loop control of the motor 34 during the initial startup of the electric surgical impactor 20. For example, the control device CON controls the motor 34 using open-loop control when the movable element 40 begins to reach its operating speed during the initial startup. Once the electric surgical impactor 20 is sufficiently started, for example when the movable element 40 reaches its operating speed, the control device CON begins closed-loop control of the motor 34. Advantageously, by performing open-loop control of the motor 34 before closed-loop control of the motor 34, the control device CON can reduce the startup time of the electric surgical impactor 20.

[0043] In the example in Figure 12, Method 100 determines whether the motor 34 has started sufficiently based on the electromagnetic factors of the motor 34. For example, the electromagnetic factors may be the back electromotive force (referred to herein as "back EMF") generated by the interaction between the magnetic fields generated by the multiple coils 38 and the magnetic fields generated by the magnets 44 of the mover. In particular, Method 100 in Figure 12 includes a step 104 to determine whether the amplitude of the back EMF is sufficient for closed-loop control. The amplitude of the back EMF generated by the magnetic fields of the multiple coils 38 and the magnets 44 may indicate various motion parameters of the motor 34. Thus, by evaluating the generated back EMF, the control device CON may determine whether the motor 34 has started sufficiently. For example, the amplitude of the generated back EMF may indicate the speed of the mover 40 in the stator 36, and the larger the amplitude of the generated back EMF, the greater the speed of the mover 40 in the stator 36. Figure 13 shows an illustrative graph of the back EMF generated by the magnetic fields of the multiple coils 38 and magnets 44 during the operation of the motorized surgical impactor 20. Over time, the amplitude of the back EMF increases. When the amplitude of the back EMF exceeds a threshold, the control device CON may proceed to step 120 and begin closed-loop control of the motor 34.

[0044] The control device CON measures the back EMF generated by the motor 34 to determine whether the motor 34 has started sufficiently. A back EMF signal is generated in response to a magnet 44 of the movable element 40 being adjacent to a coil among the coils 38. In the case where the magnet 44 of the movable element 40 is adjacent to a coil, the coil may be defined as "active". Similarly, in the case where the magnet 44 of the movable element 40 is not adjacent to a coil among the coils 38, the coil may be defined as "inactive". As mentioned above, each coil of the coils 38 may be grouped into coil pairs. These coils may be grouped so that the control device CON can determine the back EMF signal generated by one coil of the coil pair. In particular, these coils may be grouped into coil pairs such that the magnet 44 of the movable element 40 is adjacent to one of the coils of the coil pair (i.e., one of the coils of the coil pair is active). For example, referring to Figure 10, for coil pair A2-6, the magnet 44 of the movable element 40 is adjacent to either the first coil A2 of the coil pair or the second coil A6 of the coil pair. As shown in Figure 14, the magnet 44 of the movable element is adjacent to coil A6, and therefore the voltage of coil A6 contains a back EMF signal ("VEMF"). In this example where the magnet 44 of the movable element 40 is adjacent to either the first or second coil of the coil pair, the control device CON may measure the electrical parameters (e.g., voltage and / or inductance) of the first and second coils of a pair of coils among the plurality of coils and determine the electromagnetic factor (e.g., back EMF signal) based on the voltage of the first coil and the voltage of the second coil. For example, the control device CON may determine the back EMF signal by subtracting the measured voltage of the coil not adjacent to the magnet 44 from the measured voltage of the coil adjacent to the magnet 44. In the example shown in Figure 14, where magnet 44 is adjacent to coil A6, the control device CON may determine the back EMF signal ("VEMF") by placing a measurement point (for example, measurement point A shown in Figure 14) between coils A2 and A6, measuring the voltage between coils A2 and A6, and subtracting the voltage across coil A2 from the voltage across coil A6.

[0045] As described above, method 100 may perform open-loop control of motor 34 based on motion parameters. During the open-loop control of motor 34, method 100 proceeds to step 118, which performs open-loop control of the motion parameters of movable element 40. For example, during step 118, control device CON may perform open-loop control of the position of movable element 40 within stator 36. In such an example, control device CON may provide current and / or drive voltage to a plurality of coils 38 to move movable element 40 to a desired position.

[0046] As also mentioned above, method 100 may perform closed-loop control of the motor 34 based on motion parameters. In particular, the control device CON may determine the motion parameters of the movable element 40 based on the back EMF signal and control the battery BAT to provide current and / or drive voltage to multiple coils based on the determined motion parameters. Thus, while the control device CON determines whether to transition to closed-loop control during step 120 based on the amplitude of the generated back EMF, the control device CON may control the operation of the motor 34 during closed-loop control based on the generated back EMF.

[0047] The control device determines the motion parameters of the movable element 40 based on the back EMF signal. To determine the motion parameters of the movable element 40 based on the phase of the back EMF signal, the control device determines the back EMF signal generated by the coil pair of the first phase and the back EMF signal generated by the coil pair of the second phase. For example, referring to Figure 11, the control device provides measurements for coil pair A2-6 and coil pair B2-6, which provide measurements of different phases of the back EMF. Referring to Figure 13, the back EMF signal generated by coil pair A2-6 is out of phase with the back EMF signal generated by coil pair B2-6. The control device may determine the motion parameters of the movable element 40 (for example, the position of the movable element 40 within the stator 36 in Figure 13) based on the back EMF signals generated by coil pair A2-6 and B2-6, as follows.

[0048] Referring to Figure 12, the above-described process for determining the motion parameters of the movable element 40 is shown in step 106. During step 106, the magnets of the movable element 40 are positioned in a first position within the stator 36. As shown, step 106 includes step 108 determining the voltages of the first and second coils of a first coil pair (e.g., coil pair A2-6) and step 110 calculating the back EMF generated by one of the first and second coils. In addition, step 106 includes step 112 determining the voltages of the first and second coils of a second coil pair (e.g., coil pair B2-6) and step 114 calculating the back EMF generated by one of the first or second coils. Once the control device CON has calculated the back EMF generated by the coil pair, the control device CON may calculate the motion parameters of the movable element 40 based on the calculated back EMF during step 116.

[0049] Referring to Figure 12, once the control device CON determines the motion parameters of the movable element 40 during step 106, method 100 proceeds to step 120, which performs closed-loop control of the motion parameters of the movable element 40 based on the determined motion parameters. Thus, the motion parameters of the movable element determined during step 106 serve as feedback during the closed-loop control in step 122. In one example, during step 122, the control device CON may provide closed-loop control of the position of the movable element 40 based on the determination of the position of the movable element 40 in step 106. In such an example, the control device CON may provide current and / or drive voltage to a plurality of coils 38 to move the movable element 40 to a desired position based on the determined position of the movable element 40.

[0050] The motor 34 may include any appropriate number of coil pairs.

[0051] For example, in some examples, the plurality of coils 38 may include two pairs of coils. In such examples, the first pair of coils are electrically connected in series, the second pair of coils are electrically connected in series, and the first pair of coils is electrically connected in parallel with the second pair of coils. Furthermore, in such examples, the battery BAT is configured to supply current to the first pair of coils such that the first coil of the first pair of coils generates a first magnetic field and the second coil of the first pair of coils generates a second magnetic field, and to supply current to the second pair of coils such that the first coil of the second pair of coils generates a third magnetic field and the second coil of the second pair of coils generates a fourth magnetic field. In examples where the plurality of coils include two pairs of coils, the control device CON is configured to determine the motion parameters of the movable element 40 based on the back EMF signals generated by each pair of coils. In particular, the control unit CON is configured to measure the voltages of the first and second coils of a second pair of coils, determine a first back EMF signal based on the voltages of the first and second coils of the second pair of coils, measure the voltages of the first and second coils of a second pair of coils, determine a second back EMF signal based on the voltages of the first and second coils of the second pair of coils, and determine the motion parameters of the movable element based on the first and second back EMF signals. The control unit CON may control the battery BAT to supply current to one of the first pair of coils and the second pair of coils based on the determined motion parameters of the movable element.

[0052] As another example, in some examples, the multiple coils 38 may include four pairs of coils. In such examples, the first pair of coils is electrically connected in series, the second pair of coils is electrically connected in series, the third pair of coils is electrically connected in series, the fourth pair of coils is electrically connected in series, and the first, second, third, and fourth pairs of coils are electrically connected in parallel with each other. Furthermore, in such an example, the battery BAT is configured to supply current to the first pair of coils such that the first coil of the first pair of coils generates a first magnetic field and the second coil of the first pair of coils generates a second magnetic field; to supply current to the second pair of coils such that the first coil of the second pair of coils generates a third magnetic field and the second coil of the second pair of coils generates a fourth magnetic field; to supply current to the third pair of coils such that the first coil of the third pair of coils generates a fifth magnetic field and the second coil of the third pair of coils generates a sixth magnetic field; and to supply current to the fourth pair of coils such that the first coil of the fourth pair of coils generates a seventh magnetic field and the second coil of the fourth pair of coils generates an eighth magnetic field. In an example where the plurality of coils include two pairs of coils, the control device CON is configured to determine the motion parameters of the movable element 40 based on the back EMF signals generated by two of the four pairs of coils. In particular, the control unit CON is configured to measure the voltages of the first and second coils of a second pair of coils, determine a first back EMF signal based on the voltages of the first and second coils of the second pair of coils, measure the voltages of the first and second coils of a second pair of coils, determine a second back EMF signal based on the voltages of the first and second coils of the second pair of coils, and determine the motion parameters of the movable element based on the first and second back EMF signals. The control unit CON may then control the battery BAT to supply current to one of the first, second, third, and fourth pairs of coils based on the determined motion parameters of the movable element.

[0053] The control device CON may determine motion parameters based on any appropriate number of back EMF signals. For example, although the control device CON is described herein as determining motion parameters based on two back EMF signals, the control device CON may determine motion parameters based on additional back EMF signals to improve accuracy. For example, referring to Figure 11, the control device CON may include measurement points between the coils of the C-phase coil pair to determine the back EMF signals for the C-phase coil pair. Furthermore, the control device CON may include additional measurement points between the coils of each A-phase and B-phase coil pair, as shown in Figure 11, to determine the back EMF signals for two or more A-phase and B-phase coil pairs.

[0054] Referring to Figures 15–27, configurations of a surgical impactor attachment 320 for injecting a tool 322 or prosthesis into a patient are shown. As shown in Figure 15, the surgical impactor attachment 320 is coupled to a rotary surgical handpiece 324 and is configured to be driven by the rotary surgical handpiece 324. In other configurations, the surgical impactor attachment 320 may not be configured as an attachment and may be integrally formed with the rotary surgical handpiece 324. One example of a suitable rotary surgical handpiece 324 is disclosed in U.S. Patent No. 5,888,200, entitled “MULTI-PURPOSE SURGICAL TOOL SYSTEM,” issued on March 30, 1999, which is incorporated herein by reference in its entirety. Of course, other configurations of the rotary surgical handpiece 324 configured to drive the surgical impactor attachment 320 are possible. As shown in Figure 15, the tool 322 is operably attached to the surgical impactor attachment 320 and is configured to be driven into the patient by the surgical impactor attachment 320. The illustrated tool 322 is a surgical broach for preparing the intramedullary cavity of the femur for housing a prosthesis, but other tools 322 or prosthesis attachments requiring driving into the patient are conceivable.

[0055] Continuing to refer to Figures 15-23, the surgical impactor attachment 320 includes a housing 326. The housing 326 defines the impact axis 328 (best shown in Figure 16). In this example, the housing 326 defines the void in which the remaining components of the surgical impactor attachment 320 are located. The surgical impactor attachment 320 also includes an impact hammer 330. The impact hammer 330 is located at least partially within the housing 326 to reciprocate relative to the housing 326 along the impact axis 328. The mechanism for performing such reciprocating motion of the impact hammer 330 will be described in more detail later. The impact hammer 330 extends between a coupling end 330A and an impact end 330B. The impact end 330B is configured to coupling with a tool 322, thereby causing the reciprocating motion of the impact hammer 330 to strike the tool 322 into the patient. Furthermore, the impactor attachment 320 may be coupled to a prosthesis for injection into the patient. Additionally, a surgical handpiece containing components of the surgical impactor attachment 320 in a dedicated device is conceivable.

[0056] The surgical impactor attachment 320 also includes a rotating member 332 (best shown in Figure 19). Referring to Figures 16 to 20, the rotating member 332 is supported within the housing 326 so as to rotate about a rotation axis 334 perpendicular to the impact axis 328. The rotating member 332 is configured to be operably mounted to the motor of the handpiece 324, which is configured to rotate the rotating member 332 in at least a first rotational direction RD1 about the rotation axis 334. For example, the surgical impactor attachment 320 includes an input shaft 336 coupled to the rotating member 332, which is configured to be coupled to the motor of the handpiece 324, and transmits the torque generated by the motor to rotate the rotating member 332 about the rotation axis 334. The rotating member 332 also includes a radial projection 338 that rotates around the axis of rotation 334, and as will be described in more detail later, the radial projection 338 generates impact when the rotating member 332 rotates around the axis of rotation 334.

[0057] The surgical impactor attachment 320 further includes an intermediate member 340 positioned within the housing 326 to reciprocate along an intermediate axis 342 parallel to the impact axis 328 and laterally separated from the impact axis 328. The intermediate member 340 is configured to reciprocate within the housing 326 in a first translational direction TD1 and a second translational direction TD2 opposite to the first translational direction TD1. As best shown in Figures 16 and 20, the intermediate member 340 defines an impact cavity 344 facing the rotating member 332 and including a first surface 346. Thus, the radial projection 338 of the rotating member 332 is configured to impact the first surface 346 of the impact cavity 344 with each rotation of the rotating member 332 in a first rotational direction RD1 about the rotational axis 334, thereby pressing the intermediate member 340 toward the first translational direction TD1. In the illustrated embodiment, the intermediate member 340 is implemented as a shaft, but other configurations are possible.

[0058] The surgical impactor attachment 320 further includes a lever 348 located within the housing 326 and extending between a first end 348A and a second end 348B. The first end 348A is positioned for pivoting motion about a pivot axis 350 parallel to and laterally separated from the rotation axis 334. The second end 348B is operably attached to an intermediate member 340. Thus, the lever 348 is configured to pivot in a reciprocating manner about the pivot axis 350 in response to the reciprocating movement of the intermediate member 340. As best shown in Figure 21, the lever 348 is coupled to an impact hammer 330 to move the impact hammer 330 relative to the housing 326 along the striking axis 328 for striking a tool 322 or prosthesis into the patient. Referring to Figures 21 and 22, the lever 348 may define a slot 352, and the coupling end 330A of the impact hammer 330 may define a lobe 354 and a central shaft 356. The central shaft 356 may be positioned in the slot 352 of the lever 348 to connect the lever 348 to the impact hammer 330, and the lobe 354 may be in contact with the lever 348 to allow slight movement of the impact hammer 330 relative to the lever 348 in order to pivot the lever 348 relative to the impact hammer 330.

[0059] Therefore, cumulatively, the surgical impactor attachment 320 converts the rotation of the motor of the handpiece 324 into repeated impacts of the impact hammer 330, and the nature of the motor of the handpiece 324 that rotates the rotating member 332 drives the tool 322 or prosthesis into the patient, thereby the radial projection 338 impacts the first surface 346 of the intermediate member 340 in a first translational direction TD1, thereby causing the lever 348 to pivot around the pivot axis 350, moving the impact hammer 330 along the impact axis 328 relative to the housing 326, and driving the tool 322 or prosthesis into the patient. The intermediate member 340 may be configured to move in a second translational direction TD2 to "reset" for the next impact cycle due to the reaction force applied by the patient to the tool 322 or prosthesis. However, in other configurations, a return biasing member may be operably attached to the intermediate member 340 to "reset" the intermediate member 340 for the next cycle.

[0060] It should also be recognized that the surgical impactor attachment 320 may be configured to operate in the reverse of the above-described operation in order to remove the tool 322 or prosthesis from the patient. For example, the motor of the handpiece 324 may be configured to rotate the rotating member 332 in a second rotational direction RD2 (i.e., opposite to the first rotational direction RD1) about the rotational axis 334. Thus, the impact cavity 344 of the intermediate member 340 may also include a second surface 358 opposite to the first surface 346. Therefore, the motor of the handpiece 324 may rotate the rotating member 332 in a second rotational direction RD2, and the radial projection 338 of the rotating member 332 may be configured to strike the second surface 358 of the impact space 344 with each rotation in the second rotational direction RD2 around the rotation axis 334, thereby pressing the intermediate member 340 in a second translational direction TD2 (and thus moving the lever 348 and impact hammer 330 away from the patient) to remove the tool 322 or prosthesis from the patient.

[0061] In some examples, the rotating member 332 may be configured to detach from the intermediate member 340 to temporarily stop the operation of the surgical impactor attachment 320. For example, the rotating member 332 may be configured to detach from the intermediate member 340 if the force of the radial projection 338 that impacts the intermediate member 340 exceeds a threshold force and / or if there is not enough reaction force to reset the intermediate member 340 for the next cycle. In some examples, as best shown in Figures 17, 18 and 23-25B, the input shaft 336 may define a cam profile 360 ​​having a landing 362 and at least one ramp 364. Thus, the rotating member 332 may be engaged with the landing 362 (e.g., via the stud 366) during normal operation of the surgical impactor attachment 320 (as shown in Figures 24A and 25A). Furthermore, in these examples, the surgical impactor attachment 320 may further include a biasing member 368 operably mounted on the input shaft 336 and the rotating member 332, the biasing member 368 configured to press the rotating member 332 so as to engage with the landing 362 of the cam profile 360 ​​in order to resume the normal operation of the surgical impactor attachment 320.

[0062] Referring to the exploded view in Figure 24A, the rotating member 332 (in particular, the studs 366 of the rotating member 332) may be configured to slide against at least one ramp 364 (i.e., be separated from the landing 362) in response to the force of the radial projection 338 impacting the intermediate member 340 exceeding a threshold force in order to separate the rotating member 332 from the intermediate member 340. Furthermore, referring to Figure 25A, the rotating member 332 (in particular, the studs 366 of the rotating member 332) may be configured to slide against at least one ramp 364 (i.e., be separated from the landing 362) in response to the radial projection 338 colliding with the intermediate member 340 if there is no sufficient reaction force to reset the intermediate member 340 for the next cycle.

[0063] Furthermore, in these examples, the surgical impactor attachment 320 may further include a biasing member 368 operably mounted on the input shaft 336 and the rotating member 332, the biasing member 368 configured to press the rotating member 332 so as to engage with the landing 362 of the cam profile 360 ​​in order to resume the normal operation of the surgical impactor attachment 320.

[0064] Referring to Figures 26–30, another configuration of the surgical impactor attachment 420 for driving the tool 422 into a patient is shown. As shown in Figure 26, the surgical impactor attachment 420 is configured to be coupled to and driven by a rotary surgical handpiece 424. In other configurations, the surgical impactor attachment 420 does not have to be configured for attachment and may be formed integrally with the rotary surgical handpiece 424. One example of a suitable rotary surgical handpiece 424 is disclosed in U.S. Patent No. 5,747,953, issued on May 5, 1998, which is incorporated herein by reference in its entirety. Of course, other configurations of the rotary surgical handpiece 424 configured to drive the surgical impactor attachment 420 are possible. As shown in Figure 26, the tool 422 is configured to be operably attached to a surgical impactor attachment 420 and to be driven into the patient by the surgical impactor attachment 420. The illustrated tool 422 is a surgical broach for preparing the intramedullary cavity of the femur for receiving a prosthesis, but attachments of other tools 422 requiring patient impaction are conceivable. Furthermore, the impactor attachment 420 may be coupled to a prosthesis for patient impaction. In addition, a surgical handpiece including components of the surgical impactor attachment 420 in a dedicated device is conceivable.

[0065] Continuing to refer to Figures 26-30, the surgical impactor attachment 420 includes a housing 426. The housing 426 may define the impact axis 428 and extends between a proximal end 430 configured for attachment to the handpiece 424 and a distal end 432 including an anvil 434 configured to be operably attached to the tool 422. In this example, the housing 426 is substantially cylindrical and defines a central cavity 436 where the rest of the components of the surgical impactor attachment 420 are located.

[0066] As best shown in Figures 27 and 28, the surgical impactor attachment 420 also includes a threaded screw shaft 438 supported within the housing 426 to rotate about the impact axis 428. The threaded screw shaft 438 is configured to be operably mounted to a motor of a handpiece 424 configured to rotate the threaded screw shaft 438 about the impact axis 428. As shown in Figures 27 and 28, the threaded screw shaft 438 may extend between a proximal end 440 that extends beyond the housing 426 for mounting to the handpiece 424 and a distal end 442 located at the distal end 432 of the housing 426. The distal end 442 of the threaded screw shaft 438 may be supported within the housing 426 by bearings or the like to rotate about the impact axis 428.

[0067] The surgical impactor attachment 420 further includes an impact hammer 444. The impact hammer 444 is supported within the housing 426 so as to move relative to the housing 426 along the impact axis 428 between a load position LP and an impact position IP. At the load position LP (best shown in Figures 29C and 29D), the impact hammer 444 is positioned at a distance from the anvil 434. At the impact position IP (best shown in Figure 29E), the impact hammer 44 strikes the anvil 434, driving the tool 422 into the patient. As best shown in Figures 26 and 27, the housing 426 may define one or more guide slots 462. In these examples, the impact hammer 444 may include one or more lateral projections 464 (in this case, fasteners) corresponding to the guide slots, the lateral projections 464 positioned in each guide slot 462. As a result, the lateral projection 464 is constrained within the guide slot 462, and as the impact hammer 444 translates between the load position LP and the impact position IP, the guide slot 462 restricts the impact hammer 444 from rotating relative to the housing 426 about the striking axis 428.

[0068] As shown in the illustrated example, the impact hammer 444 may define a central opening 446 configured to receive a threaded screw shaft 438 and / or threaded member 454, thereby allowing the impact hammer 444 to translate relative to the threaded screw shaft 438 and / or threaded member 454 along the striking axis 428 between a load position LP and an impact position IP. As best shown in Figures 29A–29D, the impact hammer 444 also defines one or more release slots 448 extending from the central opening 446. The function of one or more release slots 448 will be described in more detail later. The surgical impactor attachment 420 also includes a biasing member 450. The biasing member 450 is located within a housing 426 and is coupled to the impact hammer 444 to press the impact hammer 444 along the striking axis 428 from the load position LP to the impact position IP in order to drive a tool 422 into the patient. For example, the biasing member 450 may extend between a first end 450A that abuts against the impact hammer 444 and a second end 450B that abuts against the proximal flange 452 of the housing 426. The biasing member 450 may take the form of a coil spring.

[0069] The surgical impactor attachment 420 further includes a threaded member 454. The threaded member 454 is located within the housing 426 and is engaged with the threaded screw shaft 438 such that rotation of the threaded screw shaft 438 causes the threaded member 454 to translate along the impact axis 428. More specifically, the motor of the handpiece 424 may be configured to rotate the threaded screw shaft 438 in a first direction (e.g., clockwise) so that the threaded member 454 translates along the impact axis 428 toward the proximal end of the housing 426. The motor of the handpiece 424 may be configured to rotate the threaded screw shaft 438 in a second direction opposite to the first direction (e.g., counterclockwise) so that the threaded member 454 translates along the impact axis 428 toward the distal end 432 of the housing 426. As best shown in Figures 29A to 29E, the threaded member 454 also includes one or more radial projections 456 configured to rotate about the striking axis 428 and to cooperate with the release slot 448 of the impact hammer 444, as will be described in more detail later.

[0070] Furthermore, as best shown in Figure 29D, in some configurations, one or more radial projections 456 may be defined as a first radial projection 456A and a second radial projection 456B located opposite the first radial projection 456A. ​​Similarly, one or more release slots may be further defined as a first release slot 448A and a second release slot 448B located opposite the first release slot 448A. Thus, as will be described in more detail later, the first radial projection 456A may be configured to cooperate with the first release slot 448A during the operation of the surgical impactor attachment 420, and the second radial projection 456B may be configured to cooperate with the second release slot 448B during the operation of the surgical impactor attachment 420.

[0071] Referring to Figures 29A to 29E, the threaded member 454 may define one or more radial guides 458. Each of the one or more radial guides 458 is configured to engage with a stud 460 or other projection extending radially inward from the housing 426 (best shown in Figures 27 and 28). As shown in sequence in Figures 29A to 29E, the one or more radial guides 458 are configured to restrain the threaded member 454 for coordinated movement with the impact hammer 444 and biasing member 450 within the housing 426 during multiple states for driving the tool 422 into the patient. In other words, during the operation of the surgical impactor attachment 420, the stud 460 moves within each radial guide 458 to guide the translation and rotation of the threaded member 454 relative to the housing 426. For example, referring to the sequence between Figures 29B and 29C, the stud 460 moves within each radial guide 458 to guide the translation of the threaded member 454 proximal to the threaded screw shaft 438 between multiple states. Furthermore, referring to the sequence between Figures 29C and 29D, for example, the stud 460 moves within each radial guide 458 to guide the rotation of the threaded member 454 relative to the threaded screw shaft 438 between multiple states.

[0072] Referring to Figure 29A, the multiple states include a home state in which the impact hammer 444 is in the impact position IP after impacting the anvil 434, and the radial projection 456 of the threaded member 454 is positioned distal to the impact hammer 444 and aligned with the release slot 448. Referring to Figure 29B, the multiple states also include a coupled state in which the impact hammer 444 is in the impact position IP after impacting the anvil 434, and the radial projection 456 of the threaded member 454 is positioned distal to the impact hammer 444 and rotated relative to the impact hammer 444 so that the radial projection 456 is configured to contact the impact hammer 444. Referring to Figure 29C, the multiple states further include a compressed state in which the radial projection 456 remains rotated relative to the impact hammer 444 so that the radial projection 456 contacts the impact hammer 444 when the threaded member 454 is moved proximal (via the rotation of the threaded screw shaft 438) to move the impact hammer 444 to the load position LP and compress the biasing member 450. Referring to Figure 29D, the multiple states further include a released state in which the radial projection 456 of the threaded member 454 is rotated relative to the impact hammer 444 so that each radial projection 456 is aligned with the release slot 448. In the released state, when the radial projection 456 is aligned with the release slot 448, the biasing member 450 is configured to release the potential energy stored in the biasing member 450 during the compressed state, so as to press the impact hammer 444 along the impact axis 428 from the load position LP to the impact position IP so as to strike the anvil 434 to drive the tool 422 into the patient.

[0073] The surgical impactor attachment 420 may be configured to operate to provide a high-speed, continuous impact force. Thus, the threaded member 454 may be configured to be circulated sequentially between a home state, a coupled state, a compressed state, and a released state by the handpiece 424 (via the threaded screw shaft 438) to repeatedly strike the patient with the tool 422. More specifically, the motor of the handpiece 424 may be configured to rotate in a first direction to move the threaded member 454 sequentially from the home state to the coupled state, the compressed state, and the released state, and the motor of the handpiece 424 may be configured to rotate in a second direction to move the threaded member 454 from the released state to the home state. For example, the motor of the handpiece 424 may be configured to complete a specified number of rotations in the first direction, and then a specified number of rotations in the second direction, in order to operate the surgical impactor attachment 420 to provide a high-speed, continuous impact force. As shown in Figures 29A to 4E, the stud 460 remains positioned on the radial guide 458 to guide the rotation and translation of the threaded member 454 throughout this cycle.

[0074] The linear motor system may include a motor 34 as described herein, which may include any feature of the stator 36, the movable element 40, or any other component of the electrically operated surgical impactor 20 as described herein. It should be understood that the linear motor system may be used in other applications, such as non-surgical and / or industrial applications. Furthermore, the linear motor system may be controlled in the same manner as described above in non-surgical and / or industrial applications.

[0075] Embodiments of disclosure may be described with reference to the following exemplary clauses.

[0076] Article 1 A surgical impactor attachment for driving a tool or prosthesis, comprising: a housing extending between a proximal end configured to define a striking axis and to be attached to a handpiece and a distal end including an anvil configured to be operably attached to a tool; a threaded screw shaft supported within the housing to rotate about the striking axis, the threaded screw shaft configured to be operably attached to a motor of a handpiece configured to rotate the threaded screw shaft about the striking axis; an impact hammer defining a release slot, the impact hammer supported within the housing to move along the striking axis relative to the housing between a load position where the impact hammer is positioned at a distance from the anvil and an impact position where the impact hammer strikes the anvil to drive a tool or prosthesis; and a biasing member disposed within the housing to press the impact hammer along the striking axis from the load position to the impact position to drive a tool or prosthesis. The system includes a biasing member coupled to an impact hammer, and a threaded member disposed within a housing, which is engaged with a threaded screw shaft such that the rotation of the threaded screw shaft causes the threaded member to translate along the impact axis, the threaded member including a radial projection that rotates about the impact axis, and a radial guide, the radial guide engaging with a stud extending radially inward from the housing to restrain the threaded member for coordinated movement with the impact hammer and biasing member within the housing between multiple states. The multiple states are: a home state in which the impact hammer is in the impact position after impact with the anvil and the radial projection of the screw member is positioned distal to the impact hammer and aligned with the release slot; a coupled state in which the impact hammer is in the impact position after impact with the anvil and the radial projection of the screw member is positioned distal to the impact hammer and rotated relative to the impact hammer so that the radial projection contacts the impact hammer; and a state in which the radial projection remains rotated relative to the impact hammer so that the radial projection contacts the impact hammer.A surgical impactor attachment for driving a tool or prosthesis, comprising: a compressed state in which the screw member is moved proximal to the impact hammer so that the impact hammer moves to the load position and the biasing member is compressed; and a released state in which the radial projection of the screw member is rotated relative to the impact hammer so that the radial projection of the screw member is aligned with the release slot, and the biasing member presses the impact hammer along the impact axis from the load position to the impact position so that it collides with the anvil to drive a tool or prosthesis.

[0077] Article 2 The surgical impactor attachment as described in Clause 1, wherein the threaded member is configured to be circulated sequentially between a home state, a coupled state, a compressed state, and a released state by a handpiece for driving in a tool or prosthesis.

[0078] Article 3 A surgical impactor attachment according to Clause 1 or 2, wherein the threaded screw shaft is configured to be rotated in a first direction by a motor to move the threaded member sequentially from a home state to a coupled state, a compressed state, and a released state, and the threaded screw shaft is configured to be rotated in a second direction opposite to the first direction by a motor to move the threaded member from the released state to the home state.

[0079] Article 4 A surgical impactor attachment according to any one of Clauses 1 to 3, wherein the housing defines a guide slot, and the impact hammer includes a lateral projection positioned in the guide slot to restrict the impact hammer from rotating relative to the housing about the striking axis as the impact hammer translates between a load position and an impact position.

[0080] Article 5 A surgical impactor attachment according to any one of Clauses 1 to 4, wherein a radial projection is further defined as a first radial projection, a release slot is further defined as a first release slot, a threaded member includes a second radial projection located opposite to the first radial projection, and an impact hammer defines a second release slot opposite to the first release slot.

[0081] Article 6 A surgical impactor for driving in a prosthesis or tool, the surgical impactor comprising: a housing defining a striking axis, including an anvil configured to be operably mounted to a tool or prosthesis; a motor; a threaded screw shaft supported within the housing to rotate about the striking axis, coupled to the motor for rotating the threaded screw shaft about the striking axis; an impact hammer defining a release slot, supported within the housing to move relative to the housing, knowing the striking axis between a load position where the impact hammer is positioned at a distance from the anvil and an impact position where the impact hammer strikes the anvil to drive in a tool or prosthesis; a biasing member disposed within the housing and coupled to the impact hammer to press the impact hammer along the striking axis from the load position to the impact position for driving in a tool or prosthesis; and a threaded member disposed within the housing, wherein the rotation of the threaded screw shaft causes the threaded member to move along the striking axis. The screw member includes a threaded screw shaft engaged to move in translation along a certain axis, the screw member including a radial projection that rotates about the striking axis, the screw member being constrained and configured for coordinated movement with the impact hammer and biasing member within the housing between several states, the states being a home state in which the impact hammer is in the impact position after impact with the anvil and the radial projection of the screw member is positioned distal to the impact hammer and aligned with the release slot, and a home state in which the impact hammer is in the impact position after impact with the anvil , a coupled state in which the radial projection of the screw member is positioned distal to the impact hammer and is rotated relative to the impact hammer so that the radial projection contacts the impact hammer; a compressed state in which the radial projection remains rotated relative to the impact hammer so that the radial projection contacts the impact hammer, the impact hammer moves to the load position and the screw member is moved proximal so that the biasing member is compressed; and a state in which the radial projection of the screw member is rotated relative to the impact hammer so that the radial projection aligns with the release slot,A surgical impactor for driving in a prosthesis or tool, including a release state in which a biasing member presses the impact hammer along the striking axis from a loading position to an impact position so as to strike an anvil to drive in a tool or prosthesis.

[0082] Article 7 A surgical impactor attachment for driving a tool or prosthesis, the surgical impactor attachment comprises a housing defining a striking axis, and an impact hammer at least partially supported within the housing for reciprocating motion relative to the housing along the striking axis, the impact hammer including an impact end configured to be coupled to a tool or prosthesis for driving the tool or prosthesis, and a rotating member including a radial projection supported within the housing to rotate about a rotation axis perpendicular to the striking axis and configured to rotate about the rotation axis, the rotating member being operably mounted to a motor of a handpiece configured to rotate the rotating member in at least a first rotational direction about the rotation axis, and a first translational direction and a second translational direction opposite to the first translational direction along an intermediate axis parallel to the striking axis and laterally separated from the striking axis. A surgical impactor attachment for driving a tool or prosthesis, comprising: an intermediate member disposed within a housing to reciprocate in a translational direction, the intermediate member facing a rotating member and defining an impact cavity including a first surface, the radial projection of the rotating member configured to impact the first surface of the impact cavity with each rotation in a first rotational direction about a rotation axis to press the intermediate member in a first translational direction; and a lever disposed within a housing, extending between a first end disposed to pivot about a pivot axis parallel to the rotation axis and laterally separated from the rotation axis, and a second end movably attached to the intermediate member so as to pivot in a reciprocating manner about the pivot axis in response to the reciprocating movement of the intermediate member, the lever being coupled to an impact hammer to move the impact hammer along the impact axis relative to the housing for driving a tool or prosthesis.

[0083] Article 8 The surgical impactor attachment as described in Clause 7, wherein the motor of the handpiece is configured to rotate the rotating member about the axis of rotation in a second rotational direction opposite to the first rotational direction, the impact cavity includes a second surface opposite to the first surface, and the radial projection of the rotating member is configured to impact the second surface of the impact cavity with each rotation in the second rotational direction about the axis of rotation to press the intermediate member in a second translational direction to remove a tool or prosthesis.

[0084] Article 9 The surgical impactor attachment according to Clause 7 or 8, further comprising an input shaft coupled to a rotating member and configured to be coupled to a motor of a handpiece to transmit torque generated by the motor to the rotating member.

[0085] Clause 10 The surgical impactor attachment according to Clause 9, wherein the input shaft defines a cam profile having a landing and at least one ramp, and a rotating member is engaged with the landing, and the rotating member is configured to slide along at least one ramp in response to the force of a radial projection that impacts an intermediate member exceeding a threshold force, thereby separating the rotating member from the intermediate member.

[0086] Article 11 The surgical impactor attachment according to Clause 10, further comprising a biasing member operably mounted on an input shaft and a rotating member and configured to press the rotating member against the landing of a cam profile.

[0087] Article 12 A surgical impactor for driving in a prosthesis or tool, the surgical impactor comprises a housing defining a striking axis, a motor, and a striking hammer at least partially supported within the housing to reciprocate relative to the housing along the striking axis, the striking hammer including a striking end configured to be coupled to a tool for driving in a tool or prosthesis, and a rotating member supported within the housing to rotate about a rotation axis perpendicular to the striking axis and including a radial projection that rotates about the rotation axis, the rotating member being coupled to the motor and configured to rotate the rotating member about the rotation axis in at least a first rotational direction, and the housing to reciprocate in a first translational direction and a second translational direction opposite to the first translational direction along an intermediate axis parallel to the striking axis and laterally separated from the striking axis. A surgical impactor for driving a tool or prosthesis, comprising: an intermediate member disposed within a housing, the intermediate member facing a rotating member and defining an impact cavity including a first surface, wherein a radial projection of the rotating member is configured to impact the first surface of the impact cavity with each rotation in a first rotational direction about a rotation axis in order to press the intermediate member in a first translational direction; and a lever disposed within a housing, extending between a first end disposed to pivot about a pivot axis parallel to the rotation axis and laterally separated from the rotation axis, and a second end movably attached to the intermediate member so as to pivot in a reciprocating manner about the pivot axis in response to the reciprocating movement of the intermediate member, the lever being coupled to an impact hammer to move the impact hammer along the impact axis relative to the housing for driving a tool or prosthesis.

[0088] Several embodiments are described in the foregoing description. However, the embodiments described herein are not intended to be comprehensive or to limit the invention to any particular form. The terms used are intended to be descriptive rather than restrictive. Many modifications and variations are possible in light of the foregoing teachings, and the invention may be carried out in ways other than those specifically described.

Claims

1. An electric surgical impactor, A housing that defines the longitudinal axis, A stator disposed within the housing and extending along the longitudinal axis between the proximal stator end and the distal stator end, A plurality of coils arranged around the stator and configured to be energized in order to generate a magnetic field, A movable element disposed within the stator and extending along the longitudinal axis between a proximal movable element end and a distal movable element end, wherein the movable element is configured to move between a plurality of movable element positions distally and proximal along the longitudinal axis relative to the stator in response to the energization of the plurality of coils, and the plurality of movable element positions are A proximal movable position in which the movement of the movable relative to the stator is restricted in the proximal direction, A movable element, including a distal movable element position in which the movement of the movable element relative to the stator is restricted in the distal direction, A hammer coupled to the distal end of the movable element of the movable element to move together with the movable element in response to the energization of the plurality of coils, wherein the hammer defines a hollow region defined by a proximal impact surface and a distal impact surface, and the portion of the hammer defining the hollow region is at least partially located within the stator when the movable element is in the proximal movable element position, An anvil assembly, A shaft supported by the housing to translate along the longitudinal axis in the distal and proximal directions, the shaft extending between a distal shaft end and a proximal shaft end positioned to support a tool, An anvil assembly comprising: an anvil supported by the proximal shaft end of the shaft and positioned within the hollow region of the hammer, the anvil including a distal impact surface and a proximal impact surface, wherein the proximal impact surface of the anvil is positioned to be impacted by the proximal impact surface of the hammer when the movable element moves in the distal direction to press the shaft and the tool in the distal direction, and the distal impact surface of the anvil is positioned to be impacted by the distal impact surface of the hammer when the movable element moves in the proximal direction to press the shaft and the tool in the proximal direction; An electric surgical impactor equipped with [feature / feature].

2. The stator has a defined stator length between the proximal stator end and the distal stator end. The motorized surgical impactor according to claim 1, wherein the movable element has a movable element length defined between the proximal movable element end and the distal movable element end that is smaller than the stator length of the stator.

3. The motorized surgical impactor according to claim 2, wherein the plurality of coils are arranged around the stator length of the stator.

4. The motorized surgical impactor according to claim 2, wherein the proximal movable end is aligned with the proximal stator end when the movable is positioned at the proximal movable position.

5. The electrically operated surgical impactor according to claim 2, wherein the distal movable end is aligned with the distal stator end when the movable is in the distal movable position.

6. The distal portion of the housing defines a restraint space defined by the distal restraint surface and the proximal restraint surface. The electric surgical impactor according to claim 1, wherein the anvil assembly further includes a restraining member disposed within the restraining space and coupled to the shaft, the restraining member being configured to abut against the distal restraining surface to restrict the movement of the shaft distally and to abut against the proximal restraining surface to restrict the movement of the shaft proximal.

7. The electric surgical impactor according to claim 6, further comprising a shaft biasing member disposed between the proximal restraint surface and the restraint member for biasing the shaft in the distal direction.

8. The control device further includes, The voltages of the first and second coils of a pair of coils among the plurality of coils are measured. The back EMF signal is determined based on the voltage of the first coil and the voltage of the second coil. The motion parameters of the movable element are determined based on the aforementioned back EMF signal. The electric surgical impactor according to claim 1, configured as described above.

9. The motorized surgical impactor according to claim 8, wherein the movable element includes a magnet configured to generate a magnetic field.

10. The electrically operated surgical impactor according to claim 9, further comprising a battery electrically connected to the plurality of coils, wherein the battery is configured to supply current to the plurality of coils in order to energize the plurality of coils such that the plurality of coils generate a magnetic field.

11. The electric surgical impactor according to claim 10, wherein the magnetic field generated by the plurality of coils interacts with the magnetic field generated by the magnet of the movable element in order to move the movable element between the proximal stator end and the distal stator end within the stator.

12. The motorized surgical impactor according to claim 10, wherein the magnet of the movable element is adjacent to one of the first coil and the second coil, and the control device is configured to subtract the measured voltage of the other of the first coil and the second coil from the measured voltage of one of the first coil and the second coil in order to determine the back EMF signal.

13. The motorized surgical impactor according to claim 10, wherein the voltage of the first coil includes a back EMF signal, the back EMF signal is generated in response to the magnet of the movable element being adjacent to the first coil.

14. The motorized surgical impactor according to claim 10, wherein the pair of coils is further defined as a first pair of coils, and the plurality of coils includes a second pair of coils, the first pair of coils being electrically connected in series, the second pair of coils being electrically connected in series, and the first pair of coils being electrically connected in parallel with the second pair of coils.

15. The system further includes a battery electrically connected to the plurality of coils, the battery being Current is supplied to the first pair of coils such that the first coil of the first pair generates a first magnetic field and the second coil of the first pair generates a second magnetic field. Current is supplied to the second pair of coils such that the first coil of the second pair generates a third magnetic field and the second coil of the second pair generates a fourth magnetic field. The electric surgical impactor according to claim 14, configured as described above.

16. The aforementioned back EMF signal is further defined as a first back EMF signal, and the control device, The voltages of the first and second coils of the second pair of coils are measured. The second back EMF signal is determined based on the voltage of the first coil of the second pair of coils and the voltage of the second coil of the second pair of coils. The motion parameters of the movable element are determined based on the first back EMF signal and the second back EMF signal. The electric surgical impactor according to claim 14, configured as described above.

17. The motorized surgical impactor according to claim 16, wherein the battery is electrically connected to the control device, and the control device is configured to control the battery to supply current to one of the first pair of coils and the second pair of coils based on determined motion parameters of the movable element.

18. The motorized surgical impactor according to claim 10, wherein the pair of coils is further defined as a first pair of coils, and the plurality of coils includes a second pair, a third pair, and a fourth pair of coils, the first pair of coils being electrically connected in series, the second pair of coils being electrically connected in series, the third pair of coils being electrically connected in series, the fourth pair of coils being electrically connected in series, and the first pair, the second pair, the third pair, and the fourth pair of coils being electrically connected in parallel with each other.

19. The system further includes a battery electrically connected to the plurality of coils, The aforementioned battery is Current is supplied to the first pair of coils such that the first coil of the first pair generates a first magnetic field and the second coil of the first pair generates a second magnetic field. Current is supplied to the second pair of coils such that the first coil of the second pair generates a third magnetic field and the second coil of the second pair generates a fourth magnetic field. Current is supplied to the third pair of coils such that the first coil of the third pair generates a fifth magnetic field and the second coil of the third pair generates a sixth magnetic field. Current is supplied to the fourth pair of coils such that the first coil of the fourth pair generates a seventh magnetic field and the second coil of the fourth pair generates an eighth magnetic field. The electric surgical impactor according to claim 18, configured as described above.

20. The aforementioned back EMF signal is further defined as a first back EMF signal, The control device is The voltages of the first and second coils of the second pair of coils are measured. The second back EMF signal is determined based on the voltage of the first coil of the second pair of coils and the voltage of the second coil of the second pair of coils. The motion parameters of the movable element are determined based on the first back EMF signal and the second back EMF signal. The electric surgical impactor according to claim 19, configured as described above.

21. The battery is electrically connected to the control device, The motorized surgical impactor according to claim 18, wherein the control device is configured to control the battery to supply current to one of the first pair, second pair, third pair, and fourth pair of coils based on the determined motion parameters of the movable element.

22. The motorized surgical impactor according to claim 8, wherein the motion parameters include one or more of the position, velocity, acceleration, or jerk of the movable element.

23. An electric surgical impactor, A housing that defines the longitudinal axis, A stator disposed within the housing and extending along the longitudinal axis between the proximal stator end and the distal stator end, A plurality of coils arranged around the stator and configured to be energized in order to generate a magnetic field, A movable element disposed within the stator and extending along the longitudinal axis between a proximal movable element end and a distal movable element end, wherein the movable element is configured to move within the stator between the proximal stator end and the distal stator end in response to the energization of the plurality of coils, The hammer coupled to the movable element, A control device, The voltages of the first and second coils of a pair of coils among the plurality of coils are measured. The back EMF signal is determined based on the voltage of the first coil and the voltage of the second coil. The motion parameters of the movable element are determined based on the aforementioned back EMF signal. An electric surgical impactor comprising a control device configured as such.

24. The motorized surgical impactor according to claim 23, wherein the movable element includes a magnet configured to generate a magnetic field.

25. The motorized surgical impactor according to claim 24, further comprising a battery electrically connected to the plurality of coils, wherein the battery is configured to supply current to the plurality of coils in order to energize the plurality of coils so that the plurality of coils generate a magnetic field.

26. The electric surgical impactor according to claim 25, wherein the magnetic field generated by the plurality of coils interacts with the magnetic field generated by the magnet of the movable element so as to move the movable element between the proximal stator end and the distal stator end within the stator.

27. The motorized surgical impactor according to claim 25, wherein the magnet of the movable element is adjacent to one of the first coil and the second coil, and the control device is configured to subtract the measured voltage of the other of the first coil and the second coil from the measured voltage of one of the first coil and the second coil in order to determine the back EMF signal.

28. The motorized surgical impactor according to claim 25, wherein the voltage of the first coil includes a back EMF signal, the back EMF signal is generated in response to the magnet of the movable element being adjacent to the first coil.

29. The motorized surgical impactor according to claim 25, wherein the pair of coils is further defined as a first pair of coils, and the plurality of coils includes a second pair of coils, the first pair of coils are electrically connected in series, the second pair of coils are electrically connected in series, and the first pair of coils are electrically connected in parallel with the second pair of coils.

30. The system further includes a battery electrically connected to the plurality of coils, the battery being Current is supplied to the first pair of coils such that the first coil of the first pair generates a first magnetic field and the second coil of the first pair generates a second magnetic field. Current is supplied to the second pair of coils such that the first coil of the second pair generates a third magnetic field and the second coil of the second pair generates a fourth magnetic field. The electric surgical impactor according to claim 29, configured as described above.

31. The aforementioned back EMF signal is further defined as a first back EMF signal, and the control device, The voltages of the first and second coils of the second pair of coils are measured. The second back EMF signal is determined based on the voltage of the first coil of the second pair of coils and the voltage of the second coil of the second pair of coils. The motion parameters of the movable element are determined based on the first back EMF signal and the second back EMF signal. The electric surgical impactor according to claim 29, configured as described above.

32. The motorized surgical impactor according to claim 31, wherein the battery is electrically connected to the control device, and the control device is configured to control the battery to supply current to one of the first pair of coils and the second pair of coils based on determined motion parameters of the movable element.

33. The electric surgical impactor according to claim 25, wherein the pair of coils is further defined as a first pair of coils, and the plurality of coils includes a second pair, a third pair and a fourth pair of coils, the first pair of coils being electrically connected in series, the second pair of coils being electrically connected in series, the third pair of coils being electrically connected in series, the fourth pair of coils being electrically connected in series, and the first pair, the second pair, the third pair and the fourth pair of coils being electrically connected in parallel with each other.

34. The system further includes a battery electrically connected to the plurality of coils, the battery being Current is supplied to the first pair of coils such that the first coil of the first pair generates a first magnetic field and the second coil of the first pair generates a second magnetic field. Current is supplied to the second pair of coils such that the first coil of the second pair generates a third magnetic field and the second coil of the second pair generates a fourth magnetic field. Current is supplied to the third pair of coils such that the first coil of the third pair generates a fifth magnetic field and the second coil of the third pair generates a sixth magnetic field. Current is supplied to the first pair of coils such that the first coil of the fourth pair generates a seventh magnetic field and the second coil of the fourth pair generates an eighth magnetic field. The electric surgical impactor according to claim 33, configured as described above.

35. The aforementioned back EMF signal is further defined as a first back EMF signal, and the control device, The voltages of the first and second coils of the second pair of coils are measured. The second back EMF signal is determined based on the voltage of the first coil of the second pair of coils and the voltage of the second coil of the second pair of coils. The motion parameters of the movable element are determined based on the first back EMF signal and the second back EMF signal. The electric surgical impactor according to claim 34, configured as described above.

36. The motorized surgical impactor according to claim 33, wherein the battery is electrically connected to the control device, and the control device is configured to control the battery to supply current to one of the first pair, second pair, third pair, and fourth pair of coils based on determined motion parameters of the movable element.

37. The motorized surgical impactor according to claim 25, wherein the stator extends along the longitudinal axis between the proximal stator end and the distal stator end so as to define the stator length, and the plurality of coils are arranged around the stator length.

38. The motorized surgical impactor according to claim 37, wherein the movable element extends along the longitudinal axis between the proximal movable element end and the distal movable element end so as to define a movable element length smaller than the stator length.

39. The motorized surgical impactor according to claim 38, wherein the stator length is at least 25% longer than the movable length.

40. The movable element is configured to move within the stator between the proximal stator end and the distal stator end in response to the energization of the plurality of coils, and the plurality of movable element positions are The proximal movable element position is such that the proximal movable element end is aligned with the proximal stator end, The distal movable end is aligned with the distal stator end at the distal movable position. The electric surgical impactor according to claim 23, including the following:

41. The motorized surgical impactor according to claim 40, wherein the hammer is positioned outside the movable element such that it delivers an impact to the forward impact surface when the movable element reaches the distal movable element position and delivers an impact to the reverse impact surface when the movable element reaches the proximal movable element position.

42. The motorized surgical impactor according to claim 23, wherein the motion parameters include one or more of the position, velocity, acceleration, or jerk of the movable element.

43. The motorized surgical impactor according to claim 23, wherein the hammer is coupled to the distal end of the movable element of the movable element so as to move together with the movable element in response to the energization of the plurality of coils, the hammer defines a hollow region defined by a proximal impact surface and a distal impact surface, and the portion of the hammer defining the hollow region is at least partially located within the stator when the movable element is in the proximal movable element position.

44. Further comprising an anvil assembly, the anvil assembly is A shaft supported by the housing to translate along the longitudinal axis in the distal and proximal directions, wherein the shaft comprises a distal shaft end positioned to support a tool and a shaft extending between the proximal shaft end and the distal shaft end, An anvil supported by the proximal shaft end of the shaft and positioned within the hollow region of the hammer, the anvil includes a distal impact surface and a proximal impact surface, wherein the proximal impact surface of the anvil is positioned to be impacted by the proximal impact surface of the hammer when the movable element moves in the distal direction to press the shaft and the tool in the distal direction, and the distal impact surface of the anvil is positioned to be impacted by the distal impact surface of the hammer when the movable element moves in the proximal direction to press the shaft and the tool in the proximal direction. An electric surgical impactor according to claim 43, including the following:

45. The distal portion of the housing defines a restraint space defined by the distal restraint surface and the proximal restraint surface. The electric surgical impactor according to claim 44, wherein the anvil assembly further includes a restraining member disposed within the restraining space and coupled to the shaft, the restraining member being configured to abut against the distal restraining surface to restrict the movement of the shaft distally and abut against the proximal restraining surface to restrict the movement of the shaft proximal.

46. The electric surgical impactor according to claim 45, further comprising a shaft biasing member disposed between the proximal restraint surface and the restraint member for biasing the shaft in the distal direction.

47. A method for controlling an electrically operated surgical impactor comprising: a housing defining a longitudinal axis; a stator disposed within the housing and extending along the longitudinal axis between a proximal stator end and a distal stator end; a plurality of coils arranged around the stator; a movable element disposed within the stator and extending along the longitudinal axis between a proximal movable element end and a distal movable element end; and a hammer coupled to the movable element, wherein the method is: A step of energizing the plurality of coils to generate a magnetic field, wherein the movable element is movable within the stator between the proximal stator end and the distal stator end in response to the energization of the plurality of coils, The steps include measuring the voltage of the first coil and the second coil of a pair of coils among the plurality of coils, A step of determining a back EMF signal based on the voltage of the first coil and the voltage of the second coil, The steps include determining the motion parameters of the movable element based on the back EMF signal, and A method for controlling an electric surgical impactor, including [a specific component].

48. The method according to claim 47, wherein the movable element includes a magnet configured to generate a magnetic field.

49. The electric surgical impactor further includes a battery electrically connected to the plurality of coils, The method according to claim 48, further comprising the step of providing current to the plurality of coils using the battery in order to energize the plurality of coils so that the plurality of coils generate a magnetic field.

50. The magnet of the movable element is adjacent to one of the first coil and the second coil. The method according to claim 49, further comprising the step of determining a back EMF signal by subtracting the measured voltage of the other of the first and second coils from the measured voltage of one of the first and second coils.

51. The method according to claim 49, wherein the voltage of the first coil includes a back EMF signal, the back EMF signal is generated in response to the magnet of the movable element being adjacent to the first coil.

52. The method according to claim 49, wherein the pair of coils is further defined as a first pair of coils, and the plurality of coils includes a second pair of coils, the first pair of coils are electrically connected in series, the second pair of coils are electrically connected in series, and the first pair of coils are electrically connected in parallel with the second pair of coils.

53. The electric surgical impactor further includes a battery electrically connected to the plurality of coils, The steps of supplying current to the first pair of coils by the battery such that the first coil of the first pair of coils generates a first magnetic field and the second coil of the first pair of coils generates a second magnetic field, The steps of supplying current to the second pair of coils by the battery such that the first coil of the second pair of coils generates a third magnetic field and the second coil of the second pair of coils generates a fourth magnetic field. The method according to claim 52, further comprising:

54. The aforementioned back EMF signal is further defined as a first back EMF signal, The steps include measuring the voltages of the first and second coils of the second pair of coils, A step of determining a second back EMF signal based on the voltage of the first coil of the second pair of coils and the voltage of the second coil of the second pair of coils, The steps include determining the motion parameters of the movable element based on the first back EMF signal and the second back EMF signal, and The method according to claim 52, further comprising:

55. The method according to claim 54, further comprising the step of controlling the battery to provide current to one of the first pair of coils and the second pair of coils based on the determined motion parameters of the movable element.

56. The method according to claim 49, wherein the pair of coils is further defined as a first pair of coils, and the plurality of coils includes a second pair, a third pair and a fourth pair of coils, the first pair of coils being electrically connected in series, the second pair of coils being electrically connected in series, the third pair of coils being electrically connected in series, the fourth pair of coils being electrically connected in series, and the first pair, the second pair, the third pair and the fourth pair of coils being electrically connected in parallel with one another.

57. The electric surgical impactor further includes a battery electrically connected to the plurality of coils, The steps of supplying current to the first pair of coils by the battery such that the first coil of the first pair of coils generates a first magnetic field and the second coil of the first pair of coils generates a second magnetic field, The steps of supplying current to the second pair of coils by the battery such that the first coil of the second pair of coils generates a third magnetic field and the second coil of the second pair of coils generates a fourth magnetic field, The steps of supplying current to the third pair of coils by the battery such that the first coil of the third pair of coils generates a fifth magnetic field and the second coil of the third pair of coils generates a sixth magnetic field, The steps of supplying current to the fourth pair of coils by the battery such that the first coil of the fourth pair of coils generates a seventh magnetic field and the second coil of the fourth pair of coils generates an eighth magnetic field, The method according to claim 56, further comprising:

58. The aforementioned back EMF signal is further defined as a first back EMF signal, The steps include measuring the voltages of the first and second coils of the second pair of coils, A step of determining a second back EMF signal based on the voltage of the first coil of the second pair of coils and the voltage of the second coil of the second pair of coils, The steps include determining the motion parameters of the movable element based on the first back EMF signal and the second back EMF signal, and The method according to claim 57, further comprising:

59. The method according to claim 56, further comprising the step of controlling the battery to supply current to one of the first pair, second pair, third pair, and fourth pair of coils based on the determined motion parameters of the movable element.

60. The method according to claim 47, wherein the motion parameter includes one or more of the position, velocity, acceleration, or jerk of the movable element.

61. A method for controlling a surgical impactor comprising a stator and a movable element disposed within the stator, wherein the stator comprises a first coil and a second coil, the second coil being spaced apart from the first coil, the movable element comprises a plurality of magnets, the movable element is movable between a first position and a second position, the first position being spaced apart from the second position, and a hammer is coupled to the movable element, the method is The first electrical parameters of the first coil are determined when the movable element is in the first position, The second electrical parameter of the second coil is determined when the movable element is in the first position, Determining electromagnetic factors based on the first and second electrical parameters, Determining the motion parameters of the movable element in the stator based on the electromagnetic factors mentioned above. A method for controlling a surgical impactor, including [a specific component].

62. The method according to claim 61, wherein the first coil operates when the movable element is in the first position, and the second coil does not operate when the movable element is in the first position.

63. The method according to claim 61, wherein the second coil operates when the movable element is in the second position, and the first coil does not operate when the movable element is in the second position.

64. The stator further includes third and fourth coils, and the electromagnetic factor is further defined as a first electromagnetic factor. The above method further, Determining the third electrical parameter of the third coil when the movable element is in the first position, The fourth electrical parameter of the fourth coil is determined when the movable element is in the first position, The second electromagnetic factor is determined based on the third and fourth electrical parameters, The motion parameters of the movable element in the stator are determined based on the first and second electromagnetic factors. The method according to claim 61, including the method described in claim 61.

65. The method according to claim 64, further comprising the step of providing current to the first coil and the second coil, or to the third coil and the fourth coil, based on the determined motion parameters of the movable element.

66. The first coil operates when the movable element is in the first position, and the second coil does not operate when the movable element is in the first position. The method according to claim 61, further comprising the step of determining the electromagnetic factor by subtracting the second electrical parameter from the first electrical parameter.

67. An electric surgical impactor, A housing that defines the longitudinal axis, A stator disposed within the housing and extending along the longitudinal axis between a proximal stator end and a distal stator end, the stator including a plurality of coils arranged around the longitudinal axis and configured to be energized to generate a magnetic field, the plurality of coils including a first coil and a second coil, A movable element disposed within the stator and extending along the longitudinal axis between a proximal movable element end and a distal movable element end, wherein the movable element includes a plurality of magnets and is configured to move within the stator between the proximal stator end and the distal stator end in response to the energization of the plurality of coils, A control device, The electrical parameters of the first coil and the second coil are measured when the movable element is in the first position. The position of the movable element is determined based on the measured electrical parameters of the first coil and the second coil at the first position. A control device and An electric surgical impactor equipped with [feature / feature].

68. The motorized surgical impactor according to claim 67, wherein the plurality of coils further include a third coil and a fourth coil.

69. The control device further, The electrical parameters of the third coil and the fourth coil are measured when the movable element is in the first position. The position of the movable element is determined based on the measured electrical parameters of the first coil, the second coil, the third coil, and the fourth coil at the first position. The electric surgical impactor according to claim 68, configured as described above.

70. A linear motor system, A stator extending along the longitudinal axis between the proximal stator end and the distal stator end, A plurality of coils arranged around the stator and configured to be energized in order to generate a magnetic field, A movable element disposed within the stator and extending along the longitudinal axis, wherein the movable element is configured to move within the stator between the proximal stator end and the distal stator end in response to the energization of the plurality of coils, A control device, The voltages of the first and second coils of a pair of coils among the plurality of coils are measured. The back EMF signal is determined based on the voltage of the first coil and the voltage of the second coil. The motion parameters of the movable element are determined based on the aforementioned back EMF signal. A control device configured in such a way A linear motor system equipped with the following features.

71. A method for controlling a linear motor system comprising: a stator extending along a longitudinal axis between a proximal stator end and a distal stator end; a plurality of coils arranged around the stator; and a movable element disposed within the stator and extending along the longitudinal axis, wherein the movable element is movable within the stator between the proximal stator end and the distal stator end in response to the energization of the plurality of coils, the method being: To measure the voltages of the first and second coils of a pair of coils among the plurality of coils, The back EMF signal is determined based on the voltage of the first coil and the voltage of the second coil, The motion parameters of the movable element are determined based on the aforementioned back EMF signal. A method for controlling a linear motor system, including [the specified element].

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