Surgical Sagittal Blade Cartridge

Abstract

A surgical sagittal saw cartridge including a guide bar formed from an inner plate and an opposing outer plate. The cartridge has a blade extending distally from the guide bar, the blade including a blade head having a plurality of teeth. The plurality of teeth may include a combination of leading and base teeth, the leading teeth configured to extend distally beyond the base teeth. The inner plate may include inner tines and / or two opposing outer tines. The inner tines may be formed to define a head against which the blade is configured to pivot. The inner plate may be configured to have opposing edges that extend beyond opposing edges of the outer plate and define a mounting feature. The inner plate may also define a fiducial feature configured to register and / or verify an orientation of the cartridge with a navigation system.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of priority to U.S. Provisional Patent Application No. 63 / 127,727, filed December 18, 2020, and to U.S. Provisional Patent Application No. 63 / 251,898, filed October 4, 2021, the disclosures of both applications being incorporated by reference herein in their entireties. [Background technology]

[0002] A sagittal saw blade is a surgical saw with a head that pivots about an axis perpendicular to the blade. WO 2006 / 017066(A2) / U.S. Pat. No. 7,497,860, WO 2007 / 030793(A2) / U.S. Pat. No. 7,704,254, and WO 2016 / 182981(A2) / U.S. Pat. No. 10,687,823, the contents of which are incorporated herein by reference, each disclose a sagittal saw blade cartridge. The sagittal saw blade cartridge includes a stationary guide bar and a blade head. The guide bar is an elongated member releasably attached to a handpiece, the saw that operates the cartridge. The blade head is pivotally mounted to the guide bar and has teeth extending forward from the guide bar. One or more drive links extend from the blade head toward the proximal end of the guide bar. The drive links are reciprocated back and forth by a drive assembly internal to the saw. Reciprocating motion of the drive link causes the blade head to pivot back and forth. The pivoting of the blade head allows the teeth to cut the tissue against which the blade head is pressed. Sometimes this type of cartridge is referred to as an oscillating tip saw blade cartridge.

[0003] An advantage of the sagittal blade cartridge is that the only part of the cartridge that pivots is the distally located blade head. In comparison, a conventional sagittal saw blade pivots from its attachment point on the saw to which the blade is attached. When activated, the cartridge vibrates less within the surgeon's hand holding the handpiece and / or the robotic arm. It is also common to use a cutting guide to properly position the sagittal saw blade relative to the tissue it is intended to cut. When a conventional blade is activated, the vibratory motion of the blade imposes significant wear on the surface of the cutting guide that defines the slot in which the blade sits. The guide bar of a surgical sagittal blade cartridge moves only minimally within this slot. Therefore, using a cartridge instead of a conventional blade results in less wear of the material forming the cutting guide from the guide.

[0004] As either a conventional sagittal blade or a sagittal blade cartridge advances through bone, the blade head encounters resistance and / or curved, angled, or shaped surfaces. This resistance can become significant when the cut is 5 cm or deeper. Often, the bone adjacent to the underside of the cartridge offers greater resistance to cutting than the bone immediately above the cartridge. Similarly, the curvature, angle, and / or shape of the bone surface can cause the sagittal blade cartridge to deflect in a particular direction. As with most mechanical devices, the cartridge will advance along the path of least resistance as it advances forward. Because the bone above the cartridge may offer less resistance to cutting than the bone below the cartridge, the cartridge may bend upward, away from the desired cutting plane, as it advances. This upward bending or drift of the blade is known as skiving. Additionally, there may be situations where the density and shape of the bone at the device's point of entry cause the cartridge to bend below the cutting plane as it advances. This type of bending or drift of the blade is known as diving.

[0005] Regardless of the direction in which the blade bends or drifts, it is undesirable. This is because sagittal saw blade cartridges are typically used to remove bone so that a prosthetic implant can fit into the space previously occupied by the removed bone. The implant has a surface designed to precisely seat on a complementary surface of the bone to which it will be attached. If the cut does not leave a surface on the bone with the desired shape, the results of the implant fitting procedure may be suboptimal.

[0006] Theoretically, increasing the thickness of the guide bar would increase the rigidity of a surgical sagittal blade cartridge. It should be understood that the slot in a cutting guide into which the cartridge is inserted tends to be relatively narrow. In many cases, the height of this slot is around 1.5 mm or less. This height limitation imposes a limit on the thickness of the cartridge guide bar that can be inserted into the slot. Furthermore, if the thickness of the guide bar is increased, the thickness of the cut made by the cartridge must also be increased. Increasing the thickness of the cut may also result in the cartridge leaving a cut surface that does not have the desired flatness. Therefore, increasing the thickness of the guide bar is typically not a practical solution for reducing the occurrence of cartridge bending. While the thickness of the cutting guide is not a limiting factor in robotic applications, increasing the thickness of the guide bar in turn requires an increase in the thickness of the blade tip, which also increases the amount of bone removed (more work is done), which can be undesirable. Summary of the Invention

[0007] The present invention relates to a new and useful surgical sagittal blade cartridge that includes a guide bar designed to resist deformation when subjected to uneven resistance.

[0008] The surgical sagittal blade cartridge of the present invention includes a guide bar formed using three plates: an upper plate and a bottom plate opposite the upper plate; an inner plate between the upper and bottom plates; the inner plate is formed with a curved head that serves as a boss around which the cartridge blade head pivots.

[0009] This Summary conveys a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to limit the scope of the claimed subject matter or to identify key features or essential features of the claimed subject matter.

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

[0011] In a second aspect, a surgical blade cartridge for use with a surgical manipulator is disclosed. The surgical blade cartridge also includes a first plate. The cartridge also includes a second plate. The cartridge also includes an inner plate defining a pivot surface. The cartridge also includes a blade at least partially disposed between the first plate and the second plate. The cartridge also includes a blade body having a proximal end and a distal end. The cartridge also includes a blade head disposed on the distal end of the blade body, the blade head having teeth formed thereon, and the proximal end of the blade body abutting the pivot surface. The cartridge also includes the inner plate having a reference feature configured to facilitate determining at least one of the position and / or orientation of the surgical blade relative to a navigation system. The cartridge also includes the first plate, the second plate, and the inner plate being shaped to allow access to the reference feature on the inner plate.

[0012] In a third aspect, a method for aligning a surgical saw blade using a navigation system is disclosed. The method also includes positioning an instrument including a first tracking device by inserting a distal end of the instrument through an opening in one of the first plate or the second plate so that the distal end of the instrument abuts a reference feature on the inner plate. The method also includes determining an actual position and / or orientation of the reference feature based on the positioning step. The method also includes determining an expected position and / or orientation of the reference feature based on predetermined geometric data corresponding to a relationship between a mounting feature of the surgical manipulator and the reference feature of the surgical saw blade. The method also includes comparing the expected position and / or orientation of the reference feature with the actual position and orientation of the reference feature.

[0013] In a fourth aspect, a surgical sagittal saw blade cartridge is disclosed. The cartridge also includes a blade at least partially disposed between a first plate and a second plate at the distal end of a guide bar, the blade including a blade body having a proximal end and a distal end, and a blade head disposed on the distal end of the blade body and extending from the distal end of the guide bar, the blade head having teeth formed thereon, the teeth including a plurality of base teeth and first pilot teeth. The cartridge also includes at least one drive link movably disposed within a space defined between the first and second plates of the guide bar, the at least one drive link having opposite proximal and distal ends, the proximal end adapted to be attached to a drive element of a surgical device, and the distal end connected to the proximal end of the blade body, such that reciprocating motion of the at least one drive link results in pivoting of the blade about a pivot plane. The cartridge also includes the base tooth configured to move along a first arc when the blade pivots and the first leading tooth configured to move along a second arc, the second arc being distal to the first arc.

[0014] In a fifth aspect, a surgical blade for a sagittal saw blade cartridge is disclosed, the surgical blade including a proximal end and a distal end and defining a pivot plane between the proximal end and the distal end. The surgical blade also includes a blade body including the proximal end and the distal end, the blade body configured to pivot about the pivot plane. The blade also includes a blade head disposed on the distal end of the blade body and extending from the distal end of the sagittal saw blade cartridge, the blade head having teeth formed thereon, the teeth may include a plurality of base teeth, a first leading tooth, and a second leading tooth. The blade also includes a first plane (Plane 1) extending between the proximal and distal ends of the blade body, the first plane oriented generally perpendicular to the top surface of the blade body and bisecting the blade body; a second plane (Plane 2) perpendicular to the first plane, bisecting the blade body and defining a top portion and a bottom portion; an intersection of the first plane (Plane 1) and the second plane (Plane 2) defining a central axis of the blade body; and a mirror plane (Plane 3) configured to intersect the central axis and be oriented at a mirror angle (θ) measured from the second plane (Plane 2). The blade also includes a blade head configured such that the second leading tooth is a mirror representation of the first leading tooth mirrored relative to the mirror plane (Plane 3).

[0015] In a sixth aspect, a surgical blade is disclosed, the blade including a proximal end and a distal end, and defining a pivot plane between the proximal end and the distal end. The surgical blade also includes a blade body including the proximal end and the distal end, the blade body configured to pivot about the pivot plane. The blade also includes a blade head disposed on the distal end of the blade body, the blade head having teeth formed thereon, the teeth may include a plurality of base teeth and a first leading tooth. The blade also includes a first plane extending between the proximal end and the distal end of the blade body, the first plane being oriented generally perpendicular to the upper surface of the blade body and bisecting the blade body, and a second plane perpendicular to the first plane, bisecting the blade body and defining a first portion and a second portion, the first leading tooth defining a first apex relative to the pivot plane. The blade also includes a base tooth defining a second apex relative to the pivot plane. The blade also includes a first apex of the first leading tooth distal to a second apex of the base tooth.

[0016] In a seventh aspect, a method of cutting biological tissue with a surgical blade including a blade head may include a leading tooth extending distally beyond a plurality of adjacent base teeth. The method of cutting biological tissue also includes automatically controlling a surgical manipulator to position the surgical blade on a target plane relative to the biological tissue such that a first leading tooth contacts the biological tissue before any of the plurality of base teeth contact the biological tissue, and actuating the surgical blade with the surgical manipulator while the blade is on the target plane.

[0017] In an eighth aspect, a surgical sagittal saw blade cartridge for use with a surgical device is disclosed. The surgical sagittal saw blade cartridge also includes a guide bar having a distal portion and a proximal portion, the guide bar including a first plate, a second plate, and an inner plate disposed between the first and second plates, the inner plate defining a pivot surface and a first opening. The cartridge also includes a blade disposed at least partially between the first and second plates at the distal end of the guide bar, the blade having a blade body defining a second pivot surface for pivoting about the pivot surface of the inner plate. The cartridge also includes one of the first and second plates defining a first outer edge of the proximal portion of the guide bar. The cartridge also includes the inner plate defining a second outer edge of the proximal portion of the guide bar, the guide bar being shaped such that the second outer edge extends beyond the first outer edge defined by one of the first and second plates. The cartridge also includes a first opening in the medial plate and a second outer edge of the proximal portion of the guide bar defined by the medial plate in combination configured to axially align the saw blade cartridge with respect to the surgical device.

[0018] In a ninth aspect, a surgical sagittal saw blade cartridge for use with a surgical device is disclosed. The surgical sagittal saw blade cartridge also includes a guide bar having a distal portion and a proximal portion, the guide bar including a first plate, a second plate, and an inner plate disposed between the first and second plates, the inner plate defining a pivot surface, a first opening, and a second opening. The cartridge also includes a longitudinal axis extending between the distal and proximal portions of the guide bar, the longitudinal axis configured to bisect the guide bar. The cartridge also includes a blade at least partially disposed between the first and second plates at the distal end of the guide bar, the blade having a blade body defining a pivot surface for pivoting about the pivot surface of the inner plate. The cartridge also includes one of the first and second plates defining a first outer edge of the proximal portion of the guide bar. The cartridge also includes: the inner plate defining a second outer edge of the proximal portion of the guide bar; the guide bar being formed such that the second outer edge extends beyond the first outer edge defined by one of the first and second plates. The cartridge also includes: the first opening and the second opening each positioned along the longitudinal axis. The cartridge also includes: the combination of the first opening and the second opening of the inner plate configured to axially align the saw blade cartridge with the surgical device.

[0019] In a tenth aspect, a surgical blade cartridge for use with a surgical device is disclosed. The cartridge also includes a second plate. The cartridge also includes an inner plate, the inner plate defining a pivot surface, a first opening, and a reference feature, the reference feature configured to facilitate determining at least one of the position and / or orientation of the surgical blade relative to a navigation system. The cartridge also includes at least the first plate or the second plate defining an opening configured to provide access to the reference feature on the inner plate. The cartridge also includes the first opening in the inner plate configured to axially align a center of radius of the pivot surface with the surgical device.

[0020] In an eleventh aspect, a method for validating installation of a surgical saw blade on a surgical manipulator to which the surgical saw blade is coupled through a mounting feature is disclosed. The method for validating installation also includes using a navigation system to track a first tracking device while a distal tip of the instrument is positioned to abut a reference feature. The installation also includes using the navigation system to determine an actual position and orientation of the reference feature based on the tracking step. The installation also includes using the navigation system to compare the actual position and orientation of the reference feature with an expected position and orientation of the reference feature, the expected position and orientation being based on predetermined geometric data corresponding to a relationship between the mounting feature of the surgical manipulator and the reference feature of the surgical saw blade.

[0021] In a twelfth aspect, a method of attaching a surgical saw blade to a surgical manipulator is disclosed. The method also includes positioning the surgical saw blade so that an alignment post of the surgical manipulator is located in a first opening and a connection post of the surgical manipulator is located in a second opening of the medial plate. The method also includes axially aligning the medial plate with the surgical manipulator by sliding the medial plate proximally toward the surgical manipulator and moving each of the alignment post and connection post from a proximal position within each of the first and second openings to a distal position within each of the first and second openings.

[0022] In a thirteenth aspect, a method of assembling a surgical sagittal saw is disclosed. The method also includes attaching a surgical saw blade to a surgical manipulator by positioning the surgical saw blade so that an alignment post of the surgical manipulator is located within a first opening of the surgical saw blade and a connecting post of the surgical manipulator is located within a second opening of the surgical saw blade. The method also includes sliding the surgical saw blade proximally toward the surgical manipulator, moving each of the alignment post and the connecting post from a proximal position within each of the first opening and the second opening to a distal position within each of the first opening and the second opening. The method also includes the alignment post being sized to simultaneously engage opposite sides of the first opening when positioned within the distal position of the first opening, axially aligning the surgical saw blade with the surgical manipulator when the surgical saw blade is slid proximally toward the surgical manipulator.

[0023] In a fourteenth aspect, a surgical sagittal saw blade cartridge for use with a surgical device is disclosed. The surgical sagittal saw blade cartridge also includes a guide bar having a distal portion and a proximal portion, the guide bar may include a first plate, a second plate, and an inner plate disposed between the first and second plates, the inner plate including inner tines defining a pivot surface. The cartridge also includes a longitudinal axis extending between the distal and proximal portions of the guide bar, the longitudinal axis configured to bisect the guide bar. The cartridge also includes a blade at least partially disposed between the first and second plates at the distal end of the guide bar, the blade having a blade body defining a pivot surface for pivoting about the pivot surface of the inner tines. The cartridge also includes one of the first and second plates defining a first outer edge of the proximal portion of the guide bar. The cartridge also includes the inner plate defining a second outer edge of the proximal portion of the guide bar, the guide bar being formed such that the second outer edge extends laterally relative to the longitudinal axis beyond the first outer edge defined by one of the first and second plates. The cartridge also includes at least one of the first and second plates being coupled to the inner plate by a weld formed between the inner tine, the first plate, and / or the second plate.

[0024] In a fifteenth aspect, a saw blade cartridge for use with a surgical device is disclosed. The saw blade cartridge also includes a guide bar including a distal portion and a proximal portion, and the guide bar may include a first plate and a second plate, the first plate being coupled to the second plate, and the first plate including a pivot surface. The cartridge also includes a blade at least partially disposed between the first plate and the second plate, and the blade may include a blade body including a proximal end and a distal end, and a blade head disposed on the distal end of the blade body and configured to extend from the distal portion of the guide bar, the blade head having teeth formed thereon, and the proximal end of the blade body abutting the pivot surface. The cartridge also includes a proximal portion defining a proximal end. The cartridge also includes a first plate defining a first outer edge. The cartridge also includes a second plate defining a second outer edge. The cartridge also includes a guide bar configured such that the first outer edge extends beyond the second outer edge. The cartridge also includes a first outer edge that tapers outward from the proximal end to the distal end of the proximal portion of the guide bar, whereby the first outer edge assists in aligning the saw blade cartridge with the surgical device.

[0025] In a sixteenth aspect, a saw blade cartridge for use with a surgical device is disclosed. The saw blade cartridge also includes a guide bar having a distal portion and a proximal portion, and the guide bar may include a first plate, a second plate, and an inner plate partially disposed between the first plate and the second plate, the inner plate defining a pivot surface. The cartridge also includes a blade at least partially disposed between the first plate and the second plate, and the blade may include. The cartridge also includes a blade body having a proximal end and a distal end. The cartridge also includes a blade head disposed on the distal end of the blade body and configured to extend from the distal portion of the guide bar, the blade head having teeth formed thereon, and the proximal end of the blade body abutting the pivot surface. The cartridge also includes a longitudinal axis extending between the distal and proximal portions of the guide bar. The cartridge also includes a proximal portion defining the proximal end. The cartridge also includes one of the first and second plates defining a first outer edge of the proximal portion of the guide bar. The cartridge also includes the inner plate configured to define a second outer edge of the proximal portion of the guide bar, the second outer edge extending beyond the first outer edge defined by one of the first and second plates.

[0026] In a seventeenth aspect, a saw blade cartridge for use with a surgical device is disclosed. The saw blade cartridge also includes a guide bar having a distal portion and a proximal portion, and the guide bar may include a first plate, a second plate, and an inner plate partially disposed between the first plate and the second plate, the inner plate being configured to define a pivot plane. The cartridge also includes a blade at least partially disposed between the first plate and the second plate. The cartridge also includes a longitudinal axis extending between the distal portion and the proximal portion of the guide bar. The cartridge also includes a proximal portion defining a proximal end. The cartridge also includes one of the first and second plates defining a first outer edge. The cartridge also includes the inner plate defining a second outer edge, the second outer edge extending beyond the first outer edge defined by one of the first and second plates, and the second outer edge tapering outward from the proximal end to the distal end of the proximal portion, whereby the second outer edge assists in aligning the saw blade cartridge with the surgical device. The cartridge also includes that the inner plate may further include a reference feature configured to facilitate determining at least one of the position and / or orientation of the surgical blade using a navigation system. The cartridge also includes that at least one of the first plate or the second plate is shaped to provide access to the reference feature of the inner plate.

[0027] In an eighteenth aspect, a surgical saw system is disclosed. The surgical saw system also includes a surgical device including a mount, the mount defining a mounting surface, and the mount may include a coupling post and an alignment post. The system also includes a saw blade cartridge detachably connectable to the mount of the surgical device, the saw blade cartridge including a guide bar including a distal portion and a proximal portion, the guide bar including an inner plate defining a pivot surface, a first opening, and a second opening. The system also includes a blade disposed at the distal end of the guide bar, the blade having a blade body defining a pivot surface for pivoting about the pivot surface of the inner plate. The system also includes a first opening sized to receive and slidably engage the alignment post of the mount, axially aligning the saw blade cartridge with the surgical device. The system also includes a second opening sized to receive the coupling post of the mount, detachably connecting the saw blade cartridge to the surgical device.

[0028] In a nineteenth aspect, a surgical saw system is disclosed. The surgical saw system also includes a surgical device including a mount, the mount defining a mounting surface, the mount may include first and second walls extending above the mounting surface, the first and second walls positioned on opposite sides of a longitudinal axis of the mount and tapered relative to the longitudinal axis of the mount to facilitate alignment of the saw blade cartridge along the longitudinal axis, and at least one tab disposed on each of the first and second walls, each of the at least one tab positioned above and extending over the mounting surface. The system also includes a saw blade cartridge removably connectable to the mount of the surgical device, the saw blade cartridge may include a guide bar including a distal portion and a proximal portion, the guide bar may include a first plate, a second plate, and an inner plate partially disposed between the first and second plates. The system also includes one of the first and second plates defining a first outer edge. The system also includes the inner plate being configured to define a second outer edge, the second outer edge extending beyond the first outer edge defined by one of the first and second plates, each of the first and second walls engaging the second outer edge of the inner plate, and a lower surface of each of the at least one tab engaging an upper surface of the inner plate.

[0029] A twentieth aspect is a saw blade cartridge for use with a surgical device. The saw blade cartridge also includes a guide bar having a distal portion and a proximal portion, and the guide bar may include a first plate and a second plate. The cartridge also includes a blade at least partially disposed between the first plate and the second plate. The cartridge also includes a blade body having a proximal end and a distal end. The cartridge also includes a blade head disposed on the distal end of the blade body and configured to extend from the distal portion of the guide bar, the blade head having teeth formed therein and defining one or more holes for allowing debris to exit.

[0030] In a twenty-first aspect, a method of fabricating a saw blade cartridge for use with a surgical manipulator is disclosed. The method also includes forming one or more holes in a blank piece of material that is to become a blade head of the saw blade cartridge, and machining the blank to form one or more teeth at locations on the blank based on the location and / or position of the one or more holes.

[0031] In a twenty-second aspect, a surgical sagittal saw blade cartridge for use with a surgical device is disclosed. The surgical sagittal saw blade cartridge also includes a guide bar having a distal portion and a proximal portion, the guide bar may include a first plate and a second plate, one of the first and second plates defining a pivot member. The cartridge also includes a longitudinal axis extending between the distal and proximal portions of the guide bar, the longitudinal axis configured to bisect the guide bar. The cartridge also includes a blade at least partially disposed between the first and second plates at the distal end of the guide bar, the blade having a blade body defining a pivot surface for pivoting about the pivot surface. The cartridge also includes the guide bar having a first outer edge at the proximal portion of the guide bar and a second outer edge at the proximal portion of the guide bar, the guide bar being formed such that the second outer edge extends beyond the first outer edge. The cartridge also includes one of the plates defining the pivot member having a first opening positioned along the longitudinal axis, the first opening and the second outer edge in combination configured to axially align the saw blade cartridge with the surgical device.

[0032] In a twenty-third aspect, a surgical sagittal saw blade cartridge for use with a surgical device is disclosed. The surgical sagittal saw blade cartridge also includes a guide bar having a distal portion and a proximal portion, the guide bar may include a first plate and a second plate, one of the first and second plates defining a pivot member. The cartridge also includes a longitudinal axis extending between the distal and proximal portions of the guide bar, the longitudinal axis configured to bisect the guide bar. The cartridge also includes a blade at least partially disposed between the first and second plates at the distal end of the guide bar, the blade having a blade body defining a pivot surface for pivoting about the pivot surface. The cartridge also includes the guide bar having a first outer edge at the proximal portion of the guide bar and a second outer edge at the proximal portion of the guide bar, the guide bar being formed such that the second outer edge extends beyond the first outer edge. The cartridge also includes a second outer edge configured to axially align the saw blade cartridge with respect to the surgical device.

[0033] In a twenty-fourth aspect, a saw blade cartridge for use with a surgical device and for alignment using a surgical navigation system with an alignment tool is disclosed. The saw blade cartridge also includes a guide bar having a distal portion and a proximal portion, the guide bar may include a first plate, a second plate, and an inner plate partially disposed between the first and second plates, one of the first and second plates defining an opening for providing access to a surface of the inner plate, the opening being shaped to define a first region and a second region, the first region having a first size and configured to receive insertion of an alignment tool, and the second region having a second size smaller than the first size and configured to position the alignment tool with a reference feature on the guide bar and / or the inner plate. The cartridge also includes a blade at least partially disposed between the first and second plates.

[0034] In a twenty-fifth aspect, a saw blade cartridge for use with a surgical device is disclosed. The saw blade cartridge also includes a guide bar having a distal portion and a proximal portion, and the guide bar may include a first plate, a second plate, and an inner plate partially disposed between the first plate and the second plate, the inner plate configured to define a pivot surface. The cartridge also includes a blade at least partially disposed between the first plate and the second plate. The cartridge also includes a blade body having a proximal end and a distal end. The cartridge also includes a blade head disposed on the distal end of the blade body and configured to extend from the distal portion of the guide bar, the blade head having teeth formed thereon, and the proximal end of the blade body abutting the pivot surface. The cartridge also includes a surface of the inner plate defining a contact point for releasably engaging with the surgical device. The cartridge also includes one of the first and second plates shaped to provide access to contact points on the inner plate, whereby the contact points on the inner plate assist in aligning the saw blade cartridge with the surgical device.

[0035] In a twenty-sixth aspect, a surgical sagittal saw blade cartridge for use with a surgical device is disclosed. The surgical sagittal saw blade cartridge also includes a guide bar having a distal portion and a proximal portion, the guide bar including a first plate, a second plate, and an inner plate disposed between the first and second plates, the inner plate defining a pivot surface, a first opening. The cartridge also includes a blade disposed at least partially between the first and second plates at the distal end of the guide bar, the blade having a blade body defining a second pivot surface for pivoting about the pivot surface of the inner plate. The cartridge also includes one of the first and second plates defining a first outer edge of the proximal portion of the guide bar. The cartridge also includes the inner plate defining a second outer edge of the proximal portion of the guide bar, the guide bar being shaped such that the second outer edge extends beyond the first outer edge defined by one of the first and second plates. The cartridge also includes at least one of the first opening in the inner plate and a second outer edge of the proximal portion of the guide bar defined by the inner plate configured to orient the saw blade cartridge relative to the surgical device.

[0036] In some of the implementations described above, the guide bar may further define a longitudinal axis extending between the distal and proximal portions of the guide bar, the second outer edge defining a first taper angle relative to the longitudinal axis between a first point and a second point on the second outer edge, the second outer edge defining a second taper angle relative to the longitudinal axis between a second point and a third point on the second outer edge, the first point being closer to the proximal end of the cartridge than the third point, and the second point being disposed between the first point and the third point.

[0037] In some of the implementations described above, the second outer edge defines a third taper angle relative to the longitudinal axis between a third point and a fourth point on the second outer edge.

[0038] In some of the implementations described above, the pivot surface may include an arcuate surface, and the proximal end of the blade body defines a recess abutting the pivot surface such that the blade body is configured to pivot about the pivot surface defined by the inner plate when the blade body is actuated.

[0039] In some of the implementations described above, the medial plate may further define a slot configured to axially align the guide bar with respect to the surgical device, and the axial slot may be oriented such that the longitudinal axis of the slot is parallel to the longitudinal axis of the guide bar.

[0040] In some of the implementations described above, at least one of the plates may define a reference feature configured to facilitate determining the position and / or orientation of the surgical blade using the navigation system, and the inner plate further includes a reference feature configured to facilitate determining the position and / or orientation of the surgical blade using the navigation system.

[0041] In some of the implementations described above, the reference feature is selected from a group including an optical marking, a depression, or a hole, and the reference feature includes multiple laser markings, at least one of the multiple laser markings being positioned on each side of the longitudinal axis.

[0042] In some of the implementations described above, at least one of the first plate or the second plate is shaped to provide access to a reference feature of the inner plate, the reference feature being located on a surface of the inner plate exposed by a second outer edge of the inner plate that extends beyond a first outer edge defined by one of the first and second plates.

[0043] In some of the implementations described above, the reference features include one or more characteristics of the saw blade cartridge and are configured to identify the saw blade cartridge to the navigation system, the characteristics including at least one of a blade type, a blade thickness of the blade head, a tooth configuration of the blade head, a guide bar length, and / or a guide bar width.

[0044] In some of the implementations described above, the surgical manipulator and / or surgical device is one of a handheld tool, a robotic arm, or a handheld robot.

[0045] In some of the implementations described above, the guide bar is further formed such that the second outer edge extends laterally beyond the first outer edge defined by one of the first and second plates relative to a longitudinal axis extending between the distal and proximal portions of the guide bar.

[0046] In some of the implementations described above, the inner tine further defines a first opening, the first opening configured to align the pivot plane with the surgical device.

[0047] In some of the implementations described above, the guide bar can be configured such that at least one of the first opening in the inner plate and a second outer edge of the proximal portion of the guide bar defined by the inner plate is configured to orient the saw blade cartridge relative to the surgical device.

[0048] In some of the implementations described above, a surface of the inner plate defines contact points for releasably engaging a surgical device, and one of the first and second plates is shaped to provide access to the contact points on the inner plate, whereby the contact points on the inner plate assist in aligning the saw blade cartridge with the surgical device.

[0049] In some of the implementations described above, the guide bar may be configured such that one of the first and second plates defines an opening to provide access to a surface of the inner plate, the opening being shaped to define a first region and a second region, the first region having a first size and configured to receive insertion of an alignment tool, and the second region having a second size smaller than the first size and configured to position the alignment tool to a reference feature on the guide bar and / or inner plate.

[0050] In some of the implementations described above, the blade head may define one or more holes to allow debris to exit and / or to be used as reference points when fabricating the blade.

[0051] Any of the above-described aspects can be combined in whole or in part. Any features of the above-described aspects can be combined in whole or in part. Any of the above-described implementations for any aspect can be combined with any other aspect. Any of the above-described implementations can be combined with any other implementation, whether for the same aspect or a different aspect.

[0052] The invention is pointed out with particularity in the claims. The above, as well as further features and advantages of the invention, will be understood from the following detailed description taken in conjunction with the accompanying drawings. [Brief explanation of the drawings]

[0053] [Figure 1] FIG. 10 is a top view of a first configuration of a saw blade cartridge including a distal portion with a single taper. [Figure 2] 2 is a top view of a distal portion of the saw blade cartridge of FIG. 1 including a first configuration of saw blades, the saw blades in the first configuration including a blade head having a plurality of base teeth and two leading teeth; [Figure 3]FIG. 2 is a side view of the saw blade cartridge of FIG. 1. [Figure 4] FIG. 2 is a side view of the distal portion of the saw blade cartridge of FIG. 1 showing the side profile of the blade head and leading teeth. [Figure 5] FIG. 2 is a top view of a blade head of a first configuration of a saw blade of the saw blade cartridge of FIG. 1, the blade head including two leading teeth located proximal to the central axis and configured to extend distally beyond the base teeth of the blade head; [Figure 6] FIG. 2 is a front view of a blade head of a saw blade of the saw blade cartridge of FIG. 1; [Figure 7] 2 is a front view of the blade head of the first configuration of saw blades of the saw blade cartridge of FIG. 1 showing the front profiles of the base teeth and leading teeth. [Figure 8] FIG. 2 is a top cross-sectional view showing internal features of the saw blade cartridge of FIG. 1. [Figure 9] FIG. 2 is an exploded view of the saw blade cartridge of FIG. 1. [Figure 10] FIG. 2 is a front perspective view of a distal portion of the saw blade cartridge of FIG. 1; [Figure 11] FIG. 2 is a side perspective view of a distal portion of the saw blade cartridge of FIG. 1; [Figure 12] 10 is a top view of a distal portion of the saw blade cartridge of FIG. 1 including a second configuration of saw blades, the second configuration of saw blades including a blade head having a plurality of base teeth and a single leading tooth; [Figure 13] FIG. 13 is a top view of the blade head of the second configuration of the saw blade of FIG. 12, the blade head including a single leading tooth located proximal to the central axis and configured to extend distally beyond the base teeth of the blade head. [Figure 14] FIG. 13 is a front view of the blade head of the second configuration of the saw blade of FIG. 12 showing the front profiles of the base teeth and leading teeth. [Figure 15] FIG. 13 is a side view of the distal portion of the second configuration of the saw blade of FIG. 12 showing the side profile of the blade head and leading teeth. [Figure 16] 10A-10C are top views of a second configuration of a saw blade cartridge including a distal portion having multiple tapers, and a third configuration of a saw blade including a blade head having multiple base teeth and a single leading tooth. [Figure 17] FIG. 17 is a side view of the saw blade cartridge of FIG. [Figure 18] FIG. 17 is a side view of the distal portion of the saw blade cartridge of FIG. 16 showing the side profile of the blade head including a single leading tooth. [Figure 19] FIG. 17 is a top view of the distal portion of the saw blade cartridge of FIG. 16; [Figure 20] FIG. 17 is a top view of the blade head of the second configuration of the saw blade of FIG. 16, the blade head including a single leading tooth located proximal to the central axis and configured to extend distally beyond the base teeth of the blade head. [Figure 21] FIG. 17 is a front view of the blade head of the third configuration of saw blades of the saw blade cartridge of FIG. 16 showing the front profiles of the base teeth and leading teeth. [Figure 22] FIG. 17 is a side perspective view of a distal portion of the saw blade cartridge of FIG. [Figure 23] FIG. 17 is a top cross-sectional view showing internal features of the saw blade cartridge of FIG. 16. [Figure 24] FIG. 17 is an exploded view of the saw blade cartridge of FIG. [Figure 25] 1 is a perspective view of an exemplary configuration of a mount for a saw blade cartridge; [Figure 26] FIG. 25 is a top view of a mount for the saw blade cartridge of FIG. 24; [Figure 27] FIG. 25 is a front perspective view of a mount for the saw blade cartridge of FIG. 24; [Figure 28] FIG. 25 is a perspective view of the saw blade cartridge of FIG. 1 mounted in the mount of FIG. 24; [Figure 29] 25 is a top view of the saw blade cartridge of FIG. 1 mounted in the mount of FIG. 24; [Figure 30]25 is a rear perspective view of the saw blade cartridge of FIG. 1 mounted in the mount of FIG. 24 showing the interaction between the mounting features of the proximal portion of the saw blade cartridge and the mount. [Figure 31] 25 is a perspective view of a cross section of the saw blade cartridge of FIG. 1 mounted in the mount of FIG. 24 showing how internal features of the saw blade cartridge interact with the mount. [Figure 32] 25 is a perspective view of the saw blade cartridge of FIG. 1 mounted in the mount of FIG. 24, the mount being connected to a surgical robot used to operate the saw blade cartridge. [Figure 33] 10 is a top view of the saw blade cartridge of FIG. 1 including a fourth configuration of saw blades and an inner plate including a plurality of reference features. [Figure 34] FIG. 35 is an exploded view of the saw blade cartridge of FIG. 34. [Figure 35A] FIG. 34 is a top view of a distal portion of the saw blade cartridge of FIG. 33 including a fourth configuration of saw blades, the saw blades in the fourth configuration including at least one hole in the saw blade. [Figure 35B] FIG. 34 is a top view of a distal portion of the saw blade cartridge of FIG. 33 including a fifth configuration of saw blades, the saw blades of the fifth configuration including a plurality of holes therein. [Figure 36] FIG. 34 is a top cross-sectional view showing internal features of the saw blade cartridge of FIG. 33, including a blade with holes and an inner plate including datum features. [Figure 37] FIG. 2 is a top view of the saw blade cartridge of FIG. 1 including a second configuration of the guide bar including an opening in at least one of the first plate or the second plate, the opening sized and / or shaped to guide an alignment tool to a reference feature on the guide bar. [Figure 38] FIG. 38 is an exploded view of the saw blade cartridge of FIG. 37. [Figure 39]FIG. 2 is a top view of the saw blade cartridge of FIG. 1 including a third configuration of the guide bar including an opening in at least one of the first plate or the second plate, the opening sized and / or shaped to guide an alignment tool to a reference feature on the guide bar. [Figure 40] FIG. 40 is an exploded view of the saw blade cartridge of FIG. 39; DETAILED DESCRIPTION OF THE INVENTION

[0054] 1-11 illustrate a first configuration of a blade cartridge 10. The sagittal blade cartridge may also be referred to as a sagittal blade cartridge, a surgical blade cartridge, or a cartridge. The blade cartridge 10 may include a guide bar 11. The guide bar 11 may also include multiple plates 12, 14, and 16, including a first plate 12, a second plate 14, and a third plate 16. The guide bar 11 may be configured such that the third plate 16 may be positioned between the first plate 12 and the second plate 14. Thus, the first plate 12 may also be referred to as a bottom plate, the second plate 14 may be referred to as an upper plate, and the third plate 16 may be referred to as an inner plate, center plate, inner member, center layer, and / or center member. While the guide bar 11 is shown as including only three plates layered in a laminate-type arrangement, it is contemplated that the guide bar 11 may include any number of plates and / or layers.

[0055] Overall, the plates are shaped so that the guide bar 11 has a proximal portion 18 that forms the proximal ends 18A, 18B, 18C of the plates 12, 14, 16. The proximal portion 18 of the guide bar 11 may be configured to initially taper outward as one moves distally along the guide bar 11, and then eventually taper inward as one moves further distally along the guide bar 11. The outward taper of the proximal portion 18 of the guide bar 11 may be configured as a mounting feature to assist in mounting and / or securing the saw blade cartridge 10 to a surgical manipulator 301, such as a surgical robot or medical handpiece. For example, as shown in FIG. 1 , opposing outer edges of the proximal portion 18B of the third plate 16 may extend beyond opposing outer edges 36, 86 of the proximal portions 18A, 18C of the first and / or second plates 12, 14. It is contemplated that the entire length of the opposing outer edges of the proximal portion 18B of the third plate 16 may extend beyond the opposing outer edges 36, 86 defined by the proximal portions 18A, 18C of the first and / or second plates 12, 14. Alternatively, it is also contemplated that the guide bar 11 may be configured such that only a portion of the opposing outer edges of the proximal portion 18B of the third plate 16 may extend beyond the opposing outer edges 36, 86 defined by the proximal portions 18A, 18C of the first and / or second plates 12, 14. For example, referring again to FIG. 1 , only a portion of the opposing outer edges of the proximal portion 18B of the third plate 16 extends beyond the opposing outer edges 36, 86 defined by the proximal portions 18A, 18C of the first and / or second plates 12, 14. Although not shown in the figures, it is further contemplated that one or both of the proximal portions 18A, 18C of the first and / or second plates 12, 14 may be shaped to define a recess in or include a cutout defined in the outer edge 36, 86 of the proximal portions 18A, 18C of the first and / or second plates 12, 14 that exposes a portion of the proximal portion 18B of the third plate 16 for engagement by and / or contact with the mount 303 of the surgical manipulator 301.It is also contemplated that only one of the outer edges 36, 86 of the proximal portions 18A, 18C of the first and / or second plates 12, 14 may be shaped to expose a portion of the proximal portion 18B of the third plate 16 for engagement by and / or contact with the mount 303 of the surgical manipulator 301. In this configuration, the other of the outer edges 36, 86 of the proximal portions 18A, 18C of the first and / or second plates 12, 14 may be generally sized and / or shaped to mimic the size and shape of the outer edge of the proximal portion 18B of the third plate 16. The opposing edges of the proximal portion 18B of the third plate 16 extending beyond the opposing outer edges 36, 86 of the proximal portions 18A, 18C of the first and / or second plates 12, 14 may allow the outer edge of the proximal end 18B of the third plate to be part of a guide bar that contacts and / or interacts with a mount 303 of the surgical manipulator 301 for purposes of mounting and / or aligning the saw blade cartridge 10 to the surgical manipulator 301. This is described in further detail below.

[0056] 8 , the opposed outer edges of the proximal portion 18B of the third plate 16 may include multiple points 39, 41, 43, 45 spaced along the outer edge of the proximal portion 18. The points 39, 41, 43, 45 along the edge of the proximal portion 18 of the third plate 16 may define multiple segments 40, 42, 44 of the edge of the proximal portion 18 of the third plate 16, each of which may have various degrees of taper relative to the longitudinal axis L extending from the proximal end to the distal end of the guide bar 11. For example, the edge of the proximal portion 18B of the third plate 16 may include a first segment 40 defined between a first point 39 and a second point 41. The first segment 40 may be generally parallel to the longitudinal axis L of the guide bar 11. Alternatively, the first segment 40 may include a first outward taper such that the second point 41 is farther from the longitudinal axis L of the guide bar 11 than the first point 39 .

[0057] The outer edge of the proximal portion 18B of the third plate 16 may include a second segment 42 defined between a second point 41 and a third point 43. The second segment 42 may include a second outward taper such that the third point 43 is farther from the longitudinal axis L of the guide bar 11 than the second point 41. The outer edge of the proximal portion 18B of the third plate 16 may include a third segment 44 defined between the third point 43 and a fourth point 45. The third segment 44 may include a third outward taper such that the fourth point 45 is farther from the longitudinal axis L of the guide bar 11 than the third point 43. The outer edge of the proximal portion 18B of the third plate 16 may include a second segment 42 defined between the second point 41 and the third point 43. The second segment 42 may include a second outward taper such that the third point 43 is farther from the longitudinal axis L of the guide bar 11 than the second point 41. The proximal portion 18B of the third plate 16 may be configured such that the first, second, and third segments 40, 42, 44 each have a different taper relative to the longitudinal axis L of the guide bar 11. For example, the first segment 40 may be generally parallel to the longitudinal axis L, the second segment 42 may have a second taper, and the third segment 44 may have a third taper, with the second taper extending outward at a greater angle relative to the longitudinal axis L than the third taper. The taper and / or orientation of each of the opposing outer edge segments 40, 42, 44 of the proximal portion 18B of the third plate 16 can correspond to and / or match the angle and / or taper of the surface of the bracket 317 of the mount 303 for securing the saw blade cartridge 10 to the surgical manipulator 301, as will be described in further detail below.

[0058] The proximal portion 18B of the third plate 16 may further include an opposed outer edge fourth segment 47 distal to the third segment 44. The opposed outer edge fourth segment 47 of the proximal portion 18B may be configured to be generally parallel to the longitudinal axis L of the guide bar. It is also contemplated that the opposed edge fourth segment 47 of the proximal portion 18B may taper outward as one moves distally along the guide bar 11 or may taper inward as one moves distally along the guide bar 11. The proximal portion 18B of the third plate 16 may further include an opposed edge fifth segment 49 distal to the fourth segment 44. The opposed edge fifth segment 49 of the proximal portion 18B may be configured to taper inward as one moves distally along the guide bar 11.

[0059] Forward of the proximal portion 18 of the guide bar 11 are the central and distal portions 20. The plates 12, 14, 16 are shaped so that the opposing sides of the guide bar, which form the sides of the central portion, are generally parallel. The opposing sides of the distal portion 20 of the guide bar 11 may be tapered, depending on the configuration. As shown in the figures, the opposing edges 32, 99 of the distal portions 20A, 20B, 20C of the guide bar 11 may taper inward toward the center of the plates 12, 14, 16. It is also contemplated that the opposing edges of the distal portions 20A, 20B, 20C of the guide bar 11 may be generally parallel to one another. The width across the central and / or distal portions 20 of the guide bar 11 may be less than the width of the proximal portion 18 of the guide bar 11 at the widest point between the opposing edges of the proximal portion 18.

[0060] The proximal portion 18 of each of the plates 12, 14, 16 may further include two laterally spaced openings 22, 88 (one of which is identified). As shown in the figures, the first plate may include a pair of openings 22, and the second plate 14 may include a pair of openings 88. The third plate 16 may or may not define openings, depending on the shape of the plate 16. As shown in the figures, the third plate 16 is shaped to define channels 50A, 50B that cooperate with the openings 22, 88 defined in the first and second plates 12, 14. While the plates are shown as including a pair of openings 22, 88 defined in the first and second plates 12, 14 and a pair of channels 50A, 50B defined by the third plate 16, it is contemplated that the guide bar 11 may be formed with a single opening in each of the plates 22, 88 and more than two openings 22, 88 defined in each of the plates 12, 14, 16. The openings 22, 88 may be formed to have a semi-oval shape. Each opening 22, 88 has a curved portion toward the proximal end of the plates 12, 14, 16 and a straight portion toward the distal end of the guide bar 11.

[0061] Forward of the openings 22, 88, at least one of the plates 12, 14, 16 may be configured to define a keyhole-shaped opening 26, 52, 90. As shown in the figures, the first plate 12 may define the keyhole-shaped opening 26, and the second and third plates 14, 16 define openings 52, 90 that cooperate with the keyhole-shaped opening 26 of the first plate 12. While the figures show only the first plate 12 as having the keyhole-shaped opening 26, it is contemplated that one, two, or all three of the plates 12, 14, 16 may define the keyhole-shaped openings 26, 52, 90. For example, it is contemplated that the third plate 16 may define the keyhole-shaped opening 52, and the first and second plates 12, 14 may define general openings 26, 90, such as square, circular, oval, or similarly shaped openings. 9 , the keyhole opening 26 is shaped so that the widest portion of the opening 26 can receive the fastening feature of a mount for the saw blade cartridge 10. The openings 26, 52, 90 defined in each plate 12, 14, 16 may be centered between opposite edges of the guide bar 11 such that the openings 26, 52, 90 are positioned on the longitudinal axis L extending between the proximal and distal ends 18, 20 of the guide bar 11 such that the longitudinal axis L bisects the guide bar 11. The keyhole opening 26 may also be shaped so that the narrower portion of the opening 26 is located distally and forward of the wider portion of the opening 26, allowing the fastening feature 305 of the mount 303 to slide within the opening 26.

[0062] The guide bar 11 may further include additional openings 28, 54, 92 formed in the first, second, and / or third plates 12, 14, 16 distal to the keyhole-shaped openings 26, 52, 90 configured for alignment and / or attachment of saw blade cartridges. For example, each of the first, second, and / or third plates 12, 14, 16 may define an opening 28, 54, 92 centered on the longitudinal axis L of the guide bar 11. As shown in the figures, the openings 28, 54, 92 may be positioned distal to the keyhole-shaped openings 26, 52, 90 on the guide bar 11. However, it is also contemplated that the openings 28, 54, 92 may be positioned proximal to the keyhole-shaped openings 26, 52, 90 on the guide bar 11. The openings 28, 54, 92 may be configured for alignment and / or attachment of the saw blade cartridge 10 to a surgical manipulator 301, such as a robot or handpiece. The openings 28, 54, 92 in each of the first, second, and / or third plates 12, 14, 16 may be oriented and / or positioned on the respective plates 12, 14, 16 such that when the first, second, and / or third plates 12, 14, 16 are stacked on top of each other, the openings are generally aligned and / or concentric with one another and define through-holes through the guide bar 11. The openings 28, 54, 92 may be formed as circular, oval, square, rectangular, or other similar shapes. Additionally, it is contemplated that each opening 28, 54, 92 may also define different shapes and / or define different sized openings within the respective plates 12, 14, 16. Only one of the openings 28, 54, 92 may be needed for purposes of alignment of the saw blade cartridge 10 within the surgical manipulator 301. Thus, only one of the openings 28, 54, 92 may need to be sized and / or shaped to engage with an alignment feature 309 of the mount 303 (described in more detail below).The remaining openings 28, 54, 92 that do not engage the alignment feature 309 may then be sized and / or shaped such that the openings 28, 54, 92 do not contact the alignment feature 309 and / or do not interfere with the openings 28, 54, 92 that are sized and / or shaped to engage the alignment feature 309. For example, as shown in FIG. 1 , the combination of the openings 28, 54, 92 in each plate 12, 14, 16 can be seen to define a through hole through the guide bar 11. However, it can also be seen that the opening 54 in the third plate 16 is defined to be slightly smaller than the openings 28, 92 in the first and second plates 12, 14 (only the opening 54 in the third plate 16 can be seen in FIG. 1 as being smaller than the opening 92 in the second plate 92). In this exemplary configuration of the guide bar 11, the opening 54 in the third plate 16 is configured to engage the alignment feature 309 of the mount 303 for purposes of orienting the saw blade cartridge 10 relative to the surgical manipulator 301, and the openings 28, 92 in the first and second plates 12, 14 are sized and shaped so that they do not contact the alignment feature 309 and / or interfere with the ability of the opening 54 in the third plate 16 to engage the alignment feature 309. As mentioned above, although the opening 54 in the third plate is shown as sized and / or shaped to engage the alignment feature 309 of the mount 303, any of the openings 28, 54, 92 may be sized and / or shaped to engage the alignment feature 309.

[0063] The guide bar 11 may further include additional openings 30, 94 formed in the first and / or second plates 12, 14, optionally distal to the keyhole openings 26, 52, 90, and configured for verification and / or alignment of the saw blade cartridge 10 using a surgical navigation system. For example, at least one of the first and / or second plates 12, 14 may define an opening 30, 94 centered on the longitudinal axis L of the guide bar 11 and illustrated as oriented and / or positioned to align when the first and second plates 12, 14 are stacked together. The first and / or second plates 12 may include an opening 30, 94 configured to provide access to a reference feature 56 defined in the third plate 16. The reference feature 56 may include a hole defined in the third plate 16 configured as a known contact point for verification and / or alignment of the saw blade cartridge orientation using a surgical navigation system. The reference feature 56 may include a triangular-shaped hole, whereby the three edges of the hole defining the triangle serve to center a probe or similar device used to touch off on the reference feature 56. It is contemplated that the reference feature 56 may include a circular, square, rectangular, or other similar polygonal-shaped hole. Alternatively, the reference feature 56 may include an indentation defined in the surface of the third plate 16. This may include an indentation on the first surface of the third plate accessible through the opening 30 in the first plate 12 and / or an indentation on the second surface of the third plate accessible through the opening 94 defined in the second plate 14. Furthermore, it is contemplated that the reference feature 56 may include a marking. The marking may be implemented as an etching, color, indentation, or similar optical marking. The reference feature 56 may be centered on the longitudinal axis L of the guide bar 11.

[0064] As mentioned above, the proximal portion 18 of the third plate 16 includes a number of mounting features and / or contact points intended to facilitate alignment and / or mounting of the saw blade cartridge 10 with a surgical manipulator. Accordingly, having reference features 56 defined and / or located on the third plate 16 may provide the advantage of improved accuracy in verifying and / or aligning the saw blade cartridge 10 with a surgical navigation system. Additionally, it is contemplated that the saw blade cartridge 10 may include multiple reference features 56. See FIGS. 33 and 34, which are described in further detail below.

[0065] It should be understood that the dimensions of the reference feature 56 have a predetermined dimensional relationship to one or more mounting features. This allows for the above-described alignment and / or verification using a surgical navigation system. The predetermined dimensional relationship may be stored on a memory unit of the surgical navigation system and compared to the measured relationship as determined by a tracking pointer that positions the distal end at the reference feature. The alignment verification step can be performed by verifying that the reference feature 56 is in the expected position within the stereotactic coordinate system.

[0066] The third plate 16 is formed with a proximal portion 18B of the plate, as best seen in FIGS. 8 and 9. A pair of laterally spaced tines 46A, 46B extend forward from the proximal portion 18B of the third plate 16. The tines 46A, 46B may be referred to as outer tines. The outer surfaces of the tines 46A, 46B are the outer surface of the third plate 16 that form a section of the outer surface of the guide bar 11. Thus, the outer tines 46A, 46B extend forward from the proximal portion 18B and have a proximal section that tapers first outward and then inward as one moves distally along the third plate 16. The outer tines 46A, 46B are symmetrically positioned about the longitudinal axis L of the guide bar 11. The outer tines 46A, 46B may further be shaped to be mirror images of each other relative to the longitudinal axis L. Additionally, the outer tines 46A, 46B may be configured to couple the first, second, and third plates 12, 14, 16 to one another to form the guide bar 11. For example, the first and second plates 12, 14 may be welded or similarly coupled to the outer tines 46A, 46B of the third plate 16 to form the guide bar 11. Alternatively, it is contemplated that the first and second plates 12, 14 may be welded or similarly coupled to the inner tines 48 of the third plate 16 to form the guide bar 11. By welding or similarly coupling the first and second plates 12, 14 to the inner tines 48 of the third plate 16, it may avoid any interference, unintended distortion, or similar disturbance to the edge of the proximal portion 18 of the third plate 16, which may be utilized in aligning and / or orienting the guide bar 11 relative to a surgical manipulator.

[0067] Adjacent the distal end of each tine 46A, 46B is configured to have a lobe 60A, 60B that extends inwardly toward the longitudinal axis L of the guide bar 11. Moving from proximal to distal along the tine 46A, 46B, the associated lobe 60A, 60B first curves inward toward the longitudinal axis L of the guide bar 11 and then curves outward.

[0068] The third plate 16 may further include a third tine 48, an inner tine, disposed between the outer tines 46A, 46B and centered on the longitudinal axis L of the guide bar 11. As described above, the inner tine 48 may be formed to define an opening 52, which may be a keyhole-shaped opening 52. The inner tine 48 may be shaped so that the opening 52 is identical in shape to and positioned to align with the openings 26 and 90 in the first and second plates 12, 14. The inner tine 48 is of constant width except for the distal end of the tine. At its distal-most end, the inner tine 48 may include a head 58 that is curved and has a distally-facing surface configured to define a pivot plane. Although not shown, it is contemplated that the head 58 may define a concave surface configured to receive a rocker or curved surface, which may pivot within the concave surface defined by the head 58. The head 58 may include a center that defines the radius of the distally facing surface that curves to define the pivot plane. The center, as well as the opening 54 and reference feature 56 in the third plate 16, may be positioned on the longitudinal axis L of the guide bar 11. This creates alignment of the head 58, opening 54, and reference feature 56 along the longitudinal axis L of the guide bar 11, which may aid in aligning and / or registering the blade cartridge 10 with a navigation system and / or positioning the blade cartridge 10 relative to a surgical manipulator. It may be advantageous to have features for mounting and / or aligning the cartridge relative to a surgical manipulator, such as the opening 54 and / or keyhole opening 52, on the same axis as the head 58, through which the blade is manipulated, and the reference feature 56. This may result in better alignment of the blade cartridge 10 with the surgical manipulator, which in turn may result in improved tolerances for aligning the blade cartridge 10 with the navigation system. Additionally, in the exemplary configuration of the blade cartridge 10 provided, opposing edges of the proximal portion 18B of the third plate 16 may be configured as mounting features for the saw blade cartridge 10.In an exemplary configuration, all of the various mounting, alignment, and navigation registration features may be located and / or disposed on the third plate 16. This may result in improved tolerance and / or repeatability of the positioning of the blade cartridge 10 relative to the surgical manipulator, resulting in more accurate location identification and, therefore, navigation of the blade cartridge 10 during a medical procedure.

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

[0070] The outer tines 46A, 46B are spaced from the inner tine 48 such that the third plate 16 defines a pair of elongated, closed-ended slots 50A, 50B between each of the outer tines 46A, 46B and the inner tine 48. The proximal ends of the slots 50A, 50B are the closed ends of the slots. When the cartridge 10 is assembled, each slot 50A, 50B is positioned to overlap a respective one of the openings 22, 88 in the first and second plates 12, 14. The third plate 16 is further formed such that the proximal end portion of each slot 50A, 50B has a shape substantially equal to the shape of the openings 22, 88 in the first and second plates 12, 14. Therefore, the lateral width of the proximal end portion of each slot 50A, 50B is greater than the width of the slot 50A, 50B distally forward of the proximal portion 18.

[0071] Although the third plate 16 is generally shown in the figures as being formed as a single, unitary or integral plate, it is contemplated that the third plate 16 may be configured as multiple separate pieces arranged to form the features and / or portions of the third plate 16 described above. For example, the proximal portion 18 of the third plate 16 may be formed as a unitary piece with the outer tines 46A, 46B, and the inner tines 48 may be a separate piece. Alternatively, the inner tines 48 may be omitted. In yet another exemplary configuration, the third plate 16, the outer tines 46A, 46B, and the proximal portion 18 of the inner tines 48 may all be formed as separate pieces.

[0072] Referring to FIG. 9 , it will be observed that the first plate 12 is configured to have a circumference substantially identical to that of the second plate 14. However, it is also contemplated that one of the first plate 12 or the second plate 14 may be longer / shorter and / or narrower / wider than the other plate. For example, the second plate 14 may be constructed to have a narrower circumference, i.e., a periphery closer to the longitudinal axis L, than the first plate 12. Anterior to the proximal portion 18 of the first and second plates 12, 14 is a distal portion 20. The distal portions of the first and second plates 12, 14 are configured to have two openings 24, 96. The openings 24, 96 are identical in shape and are positioned such that the opening 24 of the first plate 12 aligns with the opening 96 of the second plate 96.

[0073] The saw blade cartridge 10 may further include a saw blade 70 disposed between the first and second plates 12, 14 at the distal end of the saw guide bar 11. The saw blade 70 is formed with a blade body 72 and a blade head 74. The saw blade 70 is formed such that the blade body has a thickness that is equal to or less than the thickness of the third plate 16. The blade body 72 of the saw blade 70 seen in FIGS. 8 and 9 is generally rectangular in shape. However, it is also contemplated that the peripheral edge 73 of the blade body 72 may be tapered and / or curved. The taper and / or curvature may correspond to the taper or curvature of the lobes 60A, 60B of the outer tines 46A, 46B of the inner plate 16. The shape of the blade body may be configured to allow the blade body 72 to pivot about the head 58 of the inner tine 48 and oscillate between the lobes 60A, 60B of the outer tines 46A, 46B.

[0074] When the saw blade 70 is centered within the guide bar 11, the major axis of the blade body 72 is collinear with the longitudinal axis L of the guide bar 11. The blade body 72 may be shaped to have two feet 84, one foot being identified. The feet 84 have the same thickness as the blade body 72. Each foot 84 extends into the open end of an adjacent slot 50A, 50B within the inner tine 48. Between the feet 84, the blade body 72 is formed with a curved, proximally facing surface 80. The blade body 72 is shaped so that the surface 80 can seat on and pivot about the head 58 integral with the inner tine 48. Although the figure shows the third plate having inner tines 48 defining the head 58 about which the saw blade pivots, it is further contemplated that the guide bar may be configured with a pin disposed between the first and second plates 12, 14, and the saw blade 70 configured to pivot about the pin. The blade foot 84 and blade body 72 are sometimes referred to as the base of the saw blade 70.

[0075] The distal end of blade body 72 extends distally beyond guide bar 11 such that blade head 74 extends forward of the distal end of guide bar 11. Blade head 74 has a plurality of teeth 76, 78 formed thereon. Saw blade 70 is further formed such that blade head 74 has a greater thickness than blade body 72. More specifically, blade head 74 is formed to have a thickness equal to or greater than the thickness of guide bar 11 so that the kerf formed by the cutting action of saw blade 70 is sufficient to receive guide bar 11.

[0076] 2-5, the blade head 74 may include two types of teeth: base teeth 78 and one or more leading teeth 76. For example, as shown in FIG. 2, the blade head 74 may include two leading teeth 76A, 76B. However, it is contemplated that the blade head 74 may include a single leading tooth or more than two leading teeth. The leading teeth 76A, 76B may be located proximal to the center of the distal surface of the blade head 74. Furthermore, the leading teeth 76A, 76B may be configured to extend distally a first distance D1 beyond the adjacent base teeth 78 of the blade head 74, as best seen in FIG. 5. In operation, with the leading teeth 76A, 76B extending distally beyond the adjacent base teeth 78, the leading teeth 76A, 76B are configured to oscillate along a first arc distance 77 as the adjacent base teeth 78 oscillate about a second arc distance 75, such that the first arc distance 77 is distal to the second arc distance 75.

[0077] 5-7, saw blade 70 may have a central axis C extending from the proximal to the distal end of saw blade 70. A first plane, Plane 1, may intersect central axis C of saw blade 70 and be oriented to bisect the saw blade into left and right halves. A second plane, Plane 2, may intersect central axis C of saw blade 70 and be oriented to bisect the saw blade into upper and lower halves. Plane 1 and Plane 2 may be oriented perpendicular to one another. Leading teeth 76A, 76B may extend distally from blade head 74 and be configured to be positioned on either side of Plane 1.

[0078] A third plane, plane 3, can be configured to intersect the central axis C of the saw blade 70. Plane 3 can be oriented at a mirror angle θ with respect to either plane 1 and / or plane 2. For example, plane 3 is oriented at a defined mirror angle θ with respect to plane 2. The mirror angle θ, as measured with respect to plane 2, can be any angle between 20 and 80 degrees. For example, plane 3 can be oriented at a mirror angle θ of 75 degrees with respect to plane 2. Because the leading teeth 76A, 76B can be mirrored across plane 3, plane 3 can also be referred to as a mirror plane. For example, the second leading tooth 76B can be oriented such that it is a mirror representation of the first leading tooth 76A mirrored with respect to plane 3, the mirror plane.

[0079] It is also contemplated that each of the leading teeth 76A, 76B may be oriented in a cross-pull pattern, with adjacent teeth oriented at opposite angles to one another. For example, referring again to Figures 3 and 4, a side profile of the blade head 74 is shown illustrating the leading teeth 76A, 76B oriented in a cross-pull pattern. The first leading tooth 76A is oriented in a generally downward direction relative to plane 2, and the second leading tooth 76B positioned adjacent to the first leading tooth 76A is oriented in a generally upward direction relative to plane 2, with the leading teeth 76A, 76B defining sides of a v-shape at the distal end of the blade head 74.

[0080] A drive link 62A, 62B is disposed within each slot 50A, 50B within the guide bar 11. Each drive link 62A, 62B is in the form of an elongated, flat metal strip. The drive links 62A, 62B are formed with a foot 64 at the proximal end of each link. Each foot 64 is formed with a centrally located through-hole 66, one opening being identified. The through-hole 66 is sized so that the associated drive link foot 64 can fit snugly over the saw head drive pin. Each drive link 62A, 62B is shaped so that the foot 64 has a thickness greater than the thickness of the metal strip forming the main body of the link 62A, 62B. The thickness of the foot 64 is typically equal to or less than the thickness of the guide bar 11. When the cartridge 10 is assembled, the foot 64 generally seats within the proximal end portion of the associated slot 50A, 50B. The portion of the foot 64 that projects outwardly from the main body of each link 62A, 62B seats within the openings 22,88 in the first and / or second plates 12,14.

[0081] Drive links 62A, 62B may further include two fingers 68, one of which is identified, extending distally forward from the distal end of the main body of each drive link 62A, 62B. The fingers 68 overlap and are spaced apart from one another. More specifically, the fingers 68 are spaced apart a sufficient distance to allow a blade foot 84 to seat between each pair of fingers. Each finger 68 has a hole 82 formed therein. The holes 82 of each pair of fingers 68 are aligned with one another.

[0082] As part of the assembly cartridge 10 process, the saw blades 70 are positioned so that each blade foot 84 is disposed between a pair of drive link fingers 68. A pivot pin may then extend through the finger holes 84 and the open blade foot to pivotally retain the foot 84 to the associated drive link 62A, 62B.

[0083] During assembly of the cartridge 10, the third plate 16 is first welded or otherwise secured to the first plate 12 and / or the second plate 14. After this operation is completed, the drive link and blade assembly is positioned so that the drive links 62A, 62B seat within the slots 50A, 50B and the curved, proximally-facing surface 80 of the blade 70 seats against the curved, distally-facing surface of the head 58 integral with the third plate 16. The second plate 14 and / or the first plate 12 are then welded or otherwise secured to the exposed surface of the third plate 16. When the cartridge 10 assembly process is complete, the drive link feet 64 seat within the openings 22, 88 in the first and second plates 12, 14. The drive link fingers 68 seat within the openings 24, 96 formed in the first and second plates 12, 14, respectively. The blade head 74 is located just forward of the distal end of the guide bar 11 .

[0084] 10 and 11 , the distal portion of the guide bar 11 may include a pair of generally oval-shaped openings 98 in the second plate 14. While two openings 98 are shown in the figures, it is contemplated that the guide bar may be constructed with only a single opening or with more than two openings. Additionally, while the openings are shown in the figures as defined in the second plate 14, it is contemplated that similar openings may be defined in the first plate 12. The openings 98 may include a curve and / or bend extending longitudinally along the length of the distal portion 20 of the second plate 14. The openings may be configured to assist in the removal of debris that may become trapped between the first and second plates 12, 14 when the saw blade cartridge 10 is utilized to cut living tissue.

[0085] The distal portion 20 of the guide bar 11 may also be formed to define a cutout or slot 38 between the first and second plates 12, 14. As shown in FIGS. 10 and 11 , the outer tines 46 of the inner plate 16 are formed so that the distal-most points of the lobes 60 of the outer tines 46 are positioned proximally of the distal-most edges of the first and second plates 12, 14. This arrangement defines slots 38 along the side edges of the guide bar 11 that may assist in the removal of debris that may become trapped between the first and second plates 12, 14 when the saw blade cartridge 10 is utilized to cut living tissue. The slots 38 along the side edges of the guide bar 11 may also help increase the range of motion of the saw blade 70 as it pivots. Shortening the length of the outer tines 46 may result in increased clearance, allowing the saw blade to pivot further, thus increasing the distance the blade head 74 may oscillate.

[0086] Although not shown in the figures, it is further contemplated that the saw blade cartridge 10 may include ribs on the outer surface of the guide bar 11. The ribs may be aligned with the longitudinal axis L of the guide bar 11. The ribs may be formed separately from the first and / or second plates 12, 14 and welded or otherwise permanently secured to the remainder of the cartridge 10. The ribs may reduce flexing of the guide bar 11. Exemplary configurations of saw blade cartridges are disclosed in International Application No. 2013 / 016472(A1) / U.S. Patent Application Publication No. 2014 / 0163558, both of which are expressly incorporated by reference herein.

[0087] 12-15, there is shown a second configuration of saw blade cartridge 110. It should be understood that components and / or features of the second configuration of saw blade cartridge 110 having the same base reference numbers, i.e., 10 and 110, increased by 100, may operate in a similar or identical manner as described above.

[0088] Similar to that described above, the second configuration of the saw blade cartridge 110 may include a guide bar 111 having a plurality of plates (112, 114, 116), including a first plate 112, a second plate 114, and a third plate 116. The guide bar 111 may be configured such that the third plate 116 may be positioned between the first plate 112 and the second plate 114. The first, second, and third plates 112, 114, 116 are constructed in the same or similar manner as those of the saw blade cartridge 10 described above. However, the saw blade cartridge 110 configuration shown in FIGS. 12-15 is constructed using an alternative configuration of the saw blade 170.

[0089] 13 , saw blade 170 may include a blade body 172 extending distally from guide bar 111 such that a blade head 174 coupled to the distal end of blade body 172 extends forward of the distal end of guide bar 111. Blade head 174 has a plurality of teeth 176, 178 formed thereon. Saw blade 170 is further formed such that blade head 174 has a greater thickness than blade body 172. More specifically, blade head 174 is formed to have a thickness equal to or greater than the thickness of guide bar 111 so that the kerf formed by the cutting action of saw blade 170 is sufficient to receive guide bar 111.

[0090] The blade head 174 may include two types of teeth: base teeth 178 and one or more leading teeth 176. For example, as shown in FIG. 13, the blade head 174 may include a single leading tooth 176. As described above, the blade head 174 may also include two or more leading teeth. The leading tooth 176 may be located proximal to the center of the distal surface of the blade head 174. Additionally, the leading tooth 176 may be configured to extend distally a second distance D2 beyond the adjacent base teeth 178A and 178B of the blade head 174, as best seen in FIG. 13. In operation, with the leading tooth 176 extending distally beyond the adjacent base teeth 178A, 178B, the leading tooth 176 is configured to oscillate along a first arc 177 as the adjacent base teeth 78 oscillate along a second arc distance 175, such that the first arc distance 177 is distal to the second arc distance 175.

[0091] 14 and 15 , the saw blade 170 may have a central axis C extending from the proximal to the distal end of the saw blade 170. A first plane, Plane 1, may be oriented to intersect the central axis C of the saw blade 170 and bisect the saw blade into left and right halves. A second plane, Plane 2, may be oriented to intersect the central axis C of the saw blade 170 and bisect the saw blade into upper and lower halves. Plane 1 and Plane 2 may be oriented perpendicular to one another. The leading tooth 76 may be configured to extend distally from the blade head 174 and on one side of Plane 1, with an adjacent base tooth 178B disposed on the opposite side of Plane 1.

[0092] A third plane, plane 3, can be configured to intersect the central axis C of the saw blade 170. Plane 3 can be oriented at a mirror angle θ relative to either plane 1 and / or plane 2. For example, plane 3 is oriented at a defined mirror angle θ relative to plane 2. The mirror angle θ, as measured relative to plane 2, can be any angle between 20 and 80 degrees. For example, plane 3 can be oriented at a mirror angle θ of 75 degrees relative to plane 2. Plane 3 can also be referred to as a mirror plane because the leading tooth 176 and the adjacent, shorter base tooth 178B each have a surface defining a cutting edge that is mirrored across plane 3. For example, the adjacent, shorter base tooth 178B can be oriented such that it has a surface that is a mirror representation of the leading tooth 176 mirrored relative to plane 3, the mirror plane.

[0093] It is also contemplated that each of the leading tooth 176 and adjacent base teeth 178A, 178B may be oriented in a cross-pull pattern, with adjacent teeth oriented at opposite angles to one another. For example, referring again to FIG. 15 , a side profile of the blade head 174 is shown illustrating the leading tooth 176 and adjacent base teeth 178A, 178B oriented in a cross-pull pattern. The first leading tooth 176 is oriented to face in a generally downward direction relative to plane 2, and the adjacent base teeth 178A, 178B are each oriented in a generally upward direction relative to plane 2. Arranging the combination of the leading tooth 176 and adjacent base teeth 178A, 178B in this configuration results in the side of the blade head 174 on which the leading tooth 176 is oriented (i.e., the top or bottom side) having a leading edge that is distal to the edge defined by the adjacent base teeth 178A, 178B. This particular shape of the leading edge can be utilized to reduce skiving or diving when approaching a cutting surface at an angle. For example, it can be advantageous to orient the saw blade cartridge 110 relative to a cutting surface, such as bone or other living tissue, so that the forward-most leading edge defined by the leading tooth 176 contacts the cutting surface first.

[0094] 16-24, there is shown a third configuration of saw blade cartridge 210. It should be understood that components and / or features of the second configuration of saw blade cartridge 110 having the same base reference numbers increased by 100, i.e., 10, 110, 210, may operate in a similar or identical manner as described above.

[0095] Similar to that described above, the third configuration of the saw blade cartridge 210 may include a guide bar 211 having a plurality of plates (212, 214, 216), including a first plate 212, a second plate 214, and a third plate 216. The guide bar 211 may be configured such that the third plate 216 may be positioned between the first plate 212 and the second plate 214. The first, second, and third plates 212, 214, 216 are constructed in a manner generally similar to that of the saw blade cartridges 10, 110 described above. However, the saw blade cartridge 210 configuration shown in Figures 16-24 is constructed using an alternative configuration of the first, second, and third plates 212, 214, 216.

[0096] The saw blade cartridge 210 may include a saw blade 270 that is the same as or similar to either of the saw blades 70, 170 described above. For illustrative purposes, the saw blade cartridge 210, as shown in FIG. 16, includes a blade 270 similar to the second configuration of the saw blade 170 described above. The saw blade includes a blade body 272 and a blade head 274. The blade head 274 may include two types of teeth: base teeth 278 and one or more leading teeth 276. For example, as shown in FIGS. 18 and 19, the blade head 274 may include a single leading tooth 276. However, as described above, it is contemplated that the blade head 274 may also include two or more leading teeth. The leading tooth 276 may be located proximal to the center of the distal surface of the blade head 274. Additionally, the leading tooth 276 may be configured to extend a third distance D3 distally beyond the adjacent base teeth 278A and 278B of the blade head 274, as best seen in Figures 19 and 20. In operation, with the leading tooth 276 extending distally beyond the adjacent base teeth 278A, 278B, the leading tooth 276 is configured to oscillate along a first arcuate distance 277 as the adjacent base teeth 278 oscillate about the second arcuate distance 275, such that the first arcuate distance 277 is distal to the second arcuate distance 275.

[0097] 19, a guide bar 211 is shown including alternative configurations and / or shapes of the distal portion 220. As described above with respect to FIG. 1, the opposing edges of the distal portion 220 of the guide bar 11 can include tapered edges 32, 99 defined by the first and second plates 212, 214. As shown in FIG. 19, the distal portion 220 of the guide bar 211 can also be formed such that the opposing edges include both tapered portions 232, 299 and parallel portions 231, 297. For example, the distal portion 220 of the guide bar 211 includes tapered edges 232, 299 just forward of the central portion of the guide bar 211. The opposing edges 232, 299 of the first and second plates 212, 214 can taper inward toward the longitudinal axis L of the guide bar 211 as one moves distally along the guide bar 211. Forward of the tapered edges 231 , 299 , the guide bar 211 may be formed so that the opposing edges 231 , 297 of the first and second plates 212 , 214 are generally parallel to the longitudinal axis L of the guide bar 211 .

[0098] The distal portion of the guide bar 11 may also include a pair of generally oval-shaped openings 298 in the second plate 214. While two openings 298 are shown in the figures, it is contemplated that the guide bar may be constructed with only a single opening or with more than two openings. Additionally, while openings are shown in the figures as defined in the second plate 214, it is contemplated that similar openings may be defined in the first plate 212. The openings 298 may include a curve and / or bend extending longitudinally along the length of the distal portion 220 of the second plate 214. The openings may be configured to assist in the removal of debris that may become trapped between the first and second plates 212, 214 when the saw blade cartridge 210 is utilized to cut living tissue.

[0099] Referring to FIG. 23, an alternative configuration of the outer tines 246A, 246B is shown. Adjacent the distal end of each tine 246A, 246B, each tine is shaped to have one identified tab 261 extending inwardly toward the longitudinal axis L of the guide bar 211. Proximal to the tab 261, each tine 246A, 246B is shaped to have a lobe 260A, 260B extending inwardly toward the longitudinal axis L of the guide bar 211. Moving from proximal to distal along the tine 246A, 246B, the associated lobe 260A, 260B first curves inwardly toward the longitudinal axis L of the guide bar 211 and then curves outwardly. The third plate 216 is shaped so that the lobes 260A, 260B are spaced proximally from the tab 261.

[0100] 25-27 , an exemplary configuration of a mount 303 for securing a saw blade cartridge 10, 110, 210 to a surgical manipulator 301 is shown. The mount 303 may include a connecting rod 305 configured to removably secure the saw blade cartridge 10, 110, 210 to the mount 303. The connecting rod 305 may interact with an opening 26, 52, 90, 126, 152, 190, 226, 252, 290, such as a keyhole opening 26, 126, 226, of the saw blade cartridge 10, 110, 210 to removably couple the saw blade cartridge 10, 110, 210 to the mount 303. The connecting rod 305 may include a head configured to fit through a larger portion of the keyhole opening 26, 126, 226, and the shaft of the connecting rod 305 may be configured to fit within a smaller portion of the keyhole opening 26, 126, 226 after the head is inserted through the larger portion. The larger portion may then be seated above the smaller portion and configured to removably secure the saw blade cartridge 10, 110, 210 to the mount 303. Exemplary configurations of mounts for saw blade cartridges are disclosed in WO 2007 / 030793 and U.S. Pat. No. 8,696,673, both of which are incorporated herein in their entireties.

[0101] The connecting rod 305 may be controlled by a connecting lever 307 configured to manipulate the connecting rod 305 between a locked state and an unlocked state. For example, the connecting lever 307 may be rotated in one direction to retract the connecting rod 305 to a locked state configured to secure the saw blade cartridge 10, 110, 210 to the mount 303. Alternatively, the connecting lever 307 may be rotated in the opposite direction to extend or advance the connecting rod 305 to an unlocked state configured to allow installation and / or removal of the saw blade cartridge 10, 110, 210 from the mount 303.

[0102] The mount may further include alignment features 309 configured to interact with the openings 28, 54, 92, 128, 154, 192, 228, 254, 292 in each of the first, second, and / or third plates 12, 14, 16, 112, 114, 116, 212, 214, 216. The alignment features 309 may include pins configured to be inserted through the openings 28, 54, 92, 128, 154, 192, 228, 254, 292 in each of the first, second, and / or third plates 12, 14, 16, 112, 114, 116, 212, 214, 216 when the saw blade cartridge 10, 110, 210 is coupled to the mount 303. The alignment feature 303 may be sized to simultaneously engage opposing sides of the first openings 28, 54, 92, 128, 154, 192, 228, 254, 292. The alignment feature 309 may be defined to have a circular, oval, square, diamond, or similar polygonal shape. While the shape is not critical, in configurations in which the alignment feature 309 is intended to provide functionality for aligning the saw blade cartridge 10 with the surgical manipulator 301, the width of the surgical alignment feature 309 (as measured in a direction generally perpendicular to the transverse axis L of the saw blade cartridge 10) may be sized to simultaneously engage opposing sides of the first openings 28, 54, 92, 128, 154, 192, 228, 254, 292. The combination of the connecting rod 305 and alignment feature 309 may be configured to orient the longitudinal axis L of the saw blade cartridge 10 with the mount 303. Proper and precise alignment of the saw blade cartridge 10, 110, 210 with the mount can be particularly advantageous when the saw blade cartridge 10, 110, 210 and / or the mount 303 do not have their own dedicated trackers. For example, the pose of the saw blade cartridge 10, 110, 210 can be determined based on a transformation based on trackers 4A, 4B coupled to the surgical manipulator 301 and / or mount 303, and known information about the mount 303 and / or saw blade cartridge 10, 110, 210.In this particular scenario, alignment of the saw blade cartridge 10, 110, 210 with the mount 303 is important for accurate tracking of the saw blade cartridge 10, 110, 210 attitude.

[0103] The mount 303 may also include a mounting surface 315 configured to receive the saw blade cartridge 10, 110, 210. When the saw blade cartridge 10, 110, 210 is coupled to the mount, a bottom surface of the proximal portion of the first plate 12, 112, 212 may be seated adjacent the mounting surface 315. When the connecting rod 305 is in the locked state, the connecting rod 305 may be configured to press the saw blade cartridge 10, 110, 210 against the mounting surface 315, holding the saw blade cartridge 10, 110, 210 in place.

[0104] The method of fitting the surgical saw blade 10 to the surgical manipulator 301 may include inserting the alignment feature 309 of the surgical manipulator 301 into the first opening 28, 54, 92, 128, 154, 192, 228, 254, 292 of the surgical saw blade 10 and inserting the connecting rod 305 of the surgical manipulator 301 into the second opening 26, 52, 90, 126, 152, 190, 226, 252, 290 of the surgical saw blade 10. The method may also include sliding the surgical saw blade 10 proximally toward the surgical manipulator 301 to move each of the alignment features 303 and the connecting rod 305 from a proximal position within each of the first openings 28, 54, 92, 128, 154, 192, 228, 254, 292 and the second openings 26, 52, 90, 126, 152, 190, 226, 252, 290 to a distal position within each of the first openings 28, 54, 92, 128, 154, 192, 228, 254, 292 and the second openings 26, 52, 90, 126, 152, 190, 226, 252, 290, respectively. The alignment feature 309 may be sized and / or shaped to simultaneously engage opposite sides of the first openings 28, 54, 92, 128, 154, 192, 228, 254, 292 when positioned within a distal portion of the first openings 28, 54, 92, 128, 154, 192, 228, 254, 292 to axially align the surgical saw blade 10 with the surgical manipulator 301 as the surgical saw blade 10 is slid proximally toward the surgical manipulator 301. It is further contemplated that the alignment feature 309 may be sized and / or shaped to engage with the first openings 28, 54, 92, 128, 154, 192, 228, 254, 292 to laterally align the surgical saw blade 10 with the surgical manipulator 301.

[0105] The mount 303 may also include a drive rod 311 for actuating the saw blade 70, 170, 270 of the saw blade cartridge 10, 110, 210. The drive rod 311 may include at least one drive pin 313 configured to seat within a hole 66, 166, 266 formed in the drive link foot 64, 164, 264. While pairs of drive pins are shown in the figures, it is contemplated that the mount 303 may be configured to actuate the saw blade 70, 170, 270 of the saw blade cartridge 10, 110, 210 using only a single drive pin 313. In operation, the drive rod 311 may be oscillated back and forth and / or partially rotated, causing reciprocating movement of the drive pin and, consequently, reciprocating movement of the drive link 62, 162, 262.

[0106] The drive rod 311 may also include a biasing member (not shown) configured to urge the drive rod 311 proximally toward the locked position. The force of the biasing member may be overcome by pulling the drive rod 311 distally toward the loaded position. In operation, while the drive rod 311 is in the locked position, the holes 66, 166, 266 formed in the drive link feet 64, 164, 264 may seat on the drive pin 313. The saw blade cartridge 10, 110, 210 may then be pulled distally (forward) to overcome the force of the biasing member, urging the drive rod toward the loaded position where the saw blade cartridge 10, 110, 210 may be loaded into the mount 303. Once the saw blade cartridge 10, 110, 210 is mounted, i.e., the connecting rod is inserted through the keyhole opening 26, 126, 226 and the proximal portion 18, 118, 218 of the first plate 12, 112, 212 is adjacent the mounting surface 315, the saw blade cartridge 10, 110, 210 can be released and the biasing member will move the saw blade cartridge 10, 110, 210 proximally until it reaches the locked position.

[0107] The mount 303 may further include a bracket 317 positioned on an opposite side of the mounting surface 315. The bracket may include a tab 319 extending upward from the mounting surface and configured to extend at least partially over an upper surface of the second plate 14, 114, 214 of the saw blade cartridge 10, 110, 210 when the saw blade cartridge 10, 110, 210 is coupled to the mount 303. The purpose of pulling the saw blade cartridge 10, 110, 210 distally (forward) to mount the saw blade cartridge 10, 110, 210 on the mount is to allow the proximal portion 18, 118, 218 of the saw blade cartridge 10, 110, 210 to free itself from the tab 319 of the bracket 317. Thereafter, when the biasing member moves the saw blade cartridge 10 , 110 , 210 proximally, a portion of the proximal portion 18 , 118 , 218 of the saw blade cartridge 10 , 110 , 210 is seated between the tab 319 and the mounting surface 315 .

[0108] The bracket 317 may also include tapered surfaces 325. The tapered surfaces 325 may be configured to match the various tapers of the opposing edges of the proximal portion 18, 118, 218 of the third plate 16, 116, 216 for purposes of orienting and / or securing the saw blade cartridge 10, 110, 210 relative to the mount 303. The tapered surfaces 325 may be configured to match the various tapers of the opposing edges of the proximal portion 18, 118, 218 of the third plate 16, 116, 216 such that when a biasing member urges the saw blade cartridge 10, 110, 210 proximally, the proximal portion 18, 118, 218 of the third plate 16, 116, 216 is sandwiched between the opposing tapered surfaces 325 of the bracket 317, axially aligning the surgical saw blade 10 with the surgical manipulator 301. It is also contemplated that the third plate 16, 116, 216 may be sandwiched between opposing tapered surfaces 325 of the bracket 317 to laterally align the surgical saw blade 10 relative to the surgical manipulator 301. The matching opposing edges of the proximal portion 18, 118, 218 of the third plate 16, 116, 216 formed with various segments having different taper angles and the tapered surface 325 of the bracket 317 may result in improved alignment of the saw blade cartridge 10, 110, 210 with the mount 303, improving the accuracy of navigation of the saw blade cartridge 10, 110, 210.

[0109] 28-32, an exemplary configuration of a surgical assembly 1 is shown, including a saw blade cartridge 10, 110, 210 coupled to a mount 303 of a surgical manipulator 301.

[0110] In operation, the saw blade cartridge 10, 110, 210 may be coupled to a surgical manipulator 301, such as a robotic arm or a hand-hand power tool, including a handheld robotic handpiece. The saw blade cartridge 10, 110, 210 may be secured to a mount 303 of the surgical manipulator 301. To accomplish this, each drive pin 313 of the mount 303 may be seated within a respective hole 66, 166, 266 formed in the drive link foot 62, 162, 262, and the saw blade cartridge 10, 110, 210 may be pulled forward, pulling the drive pin 313 and drive mechanism 311 forward. The saw blade cartridge 10, 110, 210 may then be lowered so that the bottom surface of the first plate 12, 112, 212 is positioned adjacent the mounting surface 315 of the mount 313. In doing so, the mount's connecting rod 305 may be inserted through the overlapping openings 26, 52, 90, 126, 152, 190, 226, 252, 290 of the saw blade cartridge 10, 110, 210. The connecting lever 307 is then used to lower the connecting rod 305, lowering the head of the connecting rod 305 onto the guide bar 11, 111, 211, so that if the plate 12, 14, 16, 112, 114, 116, 212, 214, 216 includes the keyhole openings 26, 126, 226, the head of the connecting rod 305 presses against the upper surface of the plate. This pressing action holds the saw blade cartridge 10, 110, 210 in the mount 303. When the saw blade cartridge 10, 110, 210 is secured to the mount 303, the drive pin 313 and drive link 311 cooperate to proximally urge the saw blade cartridge 10, 110, 210. The proximal portion 18, 118, 218 of the saw blade cartridge 10, 110, 210 is seated adjacent the mounting surface 315.

[0111] The saw blade cartridge 10, 110, 210 can be actuated by activating a motor (not shown) of the surgical manipulator 301. Activation of the motor causes a back and forth oscillation of the drive pin 313. Movement of the drive pin 313 causes the drive link 62, 162, 262 to reciprocate in both back and forth directions. The back and forth movement of the drive link 62, 162, 262 causes the saw blade 70, 170, 270 to pivot back and forth about the head 58, 158, 258 of the guide bar 11, 111, 211. The pivoting action of the saw blade 70, 170, 270 causes the blade head 74, 174, 274, and thus the blade teeth 76, 78, 176, 178, 276, 278, to vibrate, causing the teeth to cut tissue against which the saw blade cartridge 10, 110, 210 is pressed.

[0112] Once the saw blade cartridge 10, 110, 210 is attached to the mount 303 and / or surgical manipulator 301, the reference features 56, 156, 256 on the saw blade cartridge 10, 110, 210 may be utilized to align and / or verify the orientation of the saw blade cartridge 10, 110, 210 using a navigation system. A method of aligning the saw blade cartridge 10, 110, 210 using a navigation system may include applying an alignment tool or instrument 2 including a first tracking device 3 to the reference features 56, 156, 256 on the inner plate 16, 116, 216 by inserting a distal end of the instrument through the hole 30, 94, 130, 194, 230, 294 in one of the first plate 12, 112, 212 or the second plate 14, 114, 214. The reference feature 56, 156, 256 may be configured to register the position and / or orientation of the saw blade cartridge 10, 110, 210 with the navigation system and / or verify the position and / or orientation of the saw blade cartridge 10, 110, 210 within the surgical navigation system. The method may further include tracking the position and orientation of the first tracking device 3 while the instrument 1 is applied to the reference feature 56, 156, 256 on the saw blade cartridge 10, 110, 210 to determine the actual position and orientation of the reference feature 56, 156, 256. The method may also include determining an expected position of the reference feature 56, 156, 256 based on predetermined geometric data corresponding to the relationship between the mounting feature and the reference feature 56, 156, 256 of the saw blade cartridge 10, 110, 210, as described above.

[0113] The actual positions and orientations of the reference features 56, 156, 256 may be further configured to identify the type of saw blade cartridge 10, 110, 210. For example, the positions of the reference features 56, 156, 256 may vary between different types and / or sizes of blades. Thus, once the actual positions and orientations of the reference features 56, 156, 256 have been determined, the navigation system may be configured to identify the type of saw blade cartridge 10, 110, 210 based on the actual positions and orientations of the reference features 56, 156, 256. This may include identifying characteristics of the saw blade cartridge 10, 110, 210, such as, but not limited to, the type of blade, the blade thickness of the blade head, the tooth configuration of the blade head, the length of the guide bar, and / or the width of the guide bar 11, 111, 211.

[0114] 33-36, the saw blade cartridge 10 described above is shown including alternative configurations of the datum features 56, 56A, 56B, 56C, 56D. As described above, the saw blade cartridge 10 can include multiple datum features 56, 56A, 56B, 56C, 56D. FIGS. 33, 34, and 36 show a surgical saw blade cartridge including exemplary arrangements of the datum features 56, 56A, 56B, 56C, 56D. The multiple datum features 56, 56A, 56B, 56C, 56D can be located on the third plate 16, and the first and / or second plates 12, 14 can be shaped to expose the datum features 56, 56A, 56B, 56C, 56D. For example, as shown in Figure 33, the first and / or second plates 12, 14 may include openings 30A, 94A to provide access to the fiducial features 56. It is also contemplated that the fiducial features 56A, 56B, 56C, 56D may be located on portions of the third plate 16 exposed from the first and / or second plates 12, 14. With reference to Figure 33, a plurality of fiducial features 56A, 56B, 56C, 56D are defined on a proximal portion 18A of the third plate 16 that extends beyond the outer edges of the first and / or second plates 12, 14. Although not shown, it is further contemplated that the first and / or second plates 12, 14 may include cutouts, define recesses in their outer edges, and / or define additional holes and / or openings to provide access to the reference features 56, 56A, 56B, 56C, 56D defined on the third plate 16. As discussed above, the reference features 56, 56A, 56B, 56C, 56D may be formed as holes, indentations, indentations, color markings, or similar markings. Furthermore, while the reference features 56, 56A, 56B, 56C, 56D are shown in the figures as being located on the third plate 16, it is also contemplated that the reference features 56, 56A, 56B, 56C, 56D may be located on the first and / or second plates 12, 14. The reference features 56, 56A, 56B, 56C, 56D for a given saw blade cartridge may be located on any combination of the first, second, and / or third plates 12, 14, 16.

[0115] Referring to FIGS. 35A and 35B, an alternative configuration for the saw blade 70 of any of the saw blade cartridges 10, 110, 210 described above is shown. The saw blade 70 includes a blade head 74 having a plurality of teeth 76, 78. The blade head 74 may further be formed with one or more holes 75. Referring to FIG. 35A, an exemplary blade head 74 is shown including a pair of holes 75A, 75B. Alternatively, FIG. 35B shows an exemplary blade head 74 including three holes 75A, 75B, 75C. It is contemplated that the blade head 74 may be formed with any number of holes 75. The holes 75 may be configured to allow for the removal of debris during cutting. It is also contemplated that the holes 75 may be configured to provide cooling of the blade 70 and / or blade head 74 during cutting. Additionally, the holes 75 may be configured to aid in the fabrication of the blade 70. For example, when fabricating blade 70, holes 75 may be machined and / or formed in a blank piece of material from which the blade will be formed. The holes may then be used as reference points during fabrication so that blade body 72, blade head 74, and / or teeth 76, 78 may be machined / formed using holes 75 as references. For example, the fabrication process may be set up so that holes 75 are identifiable, and a machining tool is programmed to cut and / or grind the blank piece of material at locations based on holes 75 to form the teeth.

[0116] 37-40 , alternative configurations for the openings 30, 94 in the guide bar 11 of any of the saw blade cartridges 10, 110, 210 described above are shown. As described above, either the first and / or second plates 12, 14 may define openings 30, 94 to provide access to reference features 56 that may be used to identify and / or align the saw blade cartridge 10, 110, 210 with respect to a navigation system. FIGS. 37 and 38 illustrate guide bars 11 that may include alternative configurations for openings 30B, 94B in the first and / or second plates 12, 14. The openings 30B, 94B may be shaped to define first regions 31B, 93B and second regions 33B, 95B. The first regions 31B, 93B of the openings 30B, 94B have a first size and may be configured to receive an alignment tool 2. The second region 33B, 95B of the opening 30B, 94B may have a second size that is smaller than the size of the first region 31B, 93B. The second region 33B, 95B may be further configured to identify and / or guide the alignment tool 2 relative to the contact point 35B, 97B. The contact point 35B, 97B may be located on the first and / or second plates 12, 14. It is also contemplated that the second region 33B, 95B may be further configured to guide the alignment tool 2 to a contact point or reference feature on the third plate 16. For example, in operation, the alignment tool 2 may be inserted into the first region 31B, 93B of the opening 30B, 94B defined by the first and / or second plates 12, 14. The alignment tool may be guided within the opening 30B, 94B from the first region 31B, 93B to the second region 33B, 95B. The second region 33B, 95B may be sized and / or shaped such that as the alignment tool 2 moves within the opening 30B, 94B, the second region 33B, 95B guides the alignment tool 2 to contact points 35B, 97B that are recognizable by a navigation system and / or may correspond to reference features on a known saw blade cartridge 10, 110, 210.With this configuration of guide bar 11, the hole configuration of reference features 56 is removed from third plate 16, and it is contemplated that as alignment tool 2 is guided within openings 30B, 94B, alignment tool 2 may contact the surface of third plate 16. As shown in Figures 37 and 38, an exemplary configuration of openings 30B, 94B may have a keyed shape.

[0117] 39 and 40, another alternative configuration for the openings 30, 94 in the guide bar 11 of any of the saw blade cartridges 10, 110, 210 described above is shown. Similar to the openings 30B, 94B of FIGS. 37 and 38, the configuration of the openings 30C, 94C shown in FIGS. 39 and 40 may be shaped to define a first region 31C, 93C and a second region 33C, 95C. The first region 31C, 93C of the openings 30C, 94C may have a first size and be configured to receive the alignment tool 2. The second region 33C, 95C of the openings 30C, 94C may have a second size that is smaller than the size of the first region 31C, 93C. The second region 33C, 95C may be further configured to identify and / or guide the alignment tool 2 relative to the contact point 35C, 97C. The contact points 35C, 97C may be located on the first and / or second plates 12, 14. It is also contemplated that the second regions 33C, 95C may be further configured to guide the alignment tool 2 to contact points or reference features on the third plate 16. As shown in Figures 39 and 40, an exemplary configuration of the openings 30B, 94B may have a triangular shape.

[0118] During the process of advancing the saw blade cartridge 10, 110, 210, the saw blade cartridge 10, 110, 210 is subjected to resistive forces. The inner plates 16, 116, 216 provide structural strength to the guide bar 11, 111, 211. This structural strength resists the magnitude to which the bar 11, 111, 211 would otherwise bend when subjected to these resistive forces. Further reinforcement of the guide bar 11, 111, 211 is provided by the sections of the outer tines 46, 146, 246 that extend forward of the heads 58, 158, 258 of the inner tines 48, 148, 248. The lobes 60, 160, 260 and / or tabs 261 provide structural strength to the guide bar 11, 111, 211 at the distal portion 20, 120, 220 of the guide bar 11, 111, 211. This is the portion of the guide bar 11, 111, 211 that first experiences resistance. Therefore, the presence of the lobes 60, 160, 260 and / or tabs 261 further reduces the likelihood that the distal portion 20, 120, 220 of the guide bar 11, 111, 211 will skive or dive. Preventing the distal portion 20, 120, 220 of the guide bar 11, 111, 211 from skiving or diving reduces the likelihood that the saw blade cartridge 10, 110, 210 as a whole will skive or dive.

[0119] An additional feature of the saw blade cartridge 10, 110, 210 is that the drive links 62, 162, 262 are encased on both sides by the inner plates 16, 116, 216. This means that if a surgeon holds or touches the sides of the guide bar 11, 111, 211 while the saw blade cartridge 10, 110, 210 is in operation, the surgeon's fingers will not come into contact with the reciprocating drive links 62, 162, 262. At a minimum, this makes it essentially impossible for the drive links 62, 162, 262 to rip the gloves off the surgeon's fingers as they move. Yet another benefit of this structure is that it facilitates efficient welding of the side portions of the plates 12, 14, 16, 112, 114, 116, 212, 214, 216. This side welding of the plates 12, 14, 16, 112, 114, 116, 212, 214, 216 to form side welds along opposite sides of the guide bar 11, 111, 211 serves to strengthen the guide bar.

[0120] For example, the various features of the different configurations of the saw blade cartridges 10, 110, 210 may be combined in any arrangement of the various components.

[0121] Similarly, not all configurations of saw blade cartridges 10, 110, 210 may have all of the above-described features. For example, not all configurations of saw blade cartridges 10, 110, 210 are required to include outer tines extending forward of the inner tines. As yet another example, it may not be necessary for all outer tines to include inwardly directed lobes.

[0122] Similarly, depending on the version of the saw blade cartridge 10, 110, 210, the inner plate 16, 116, 216 may be formed in whole or in part by one or both of the first plate 12, 112, 212 or the second plate 14, 114, 214. Thus, in these versions of the saw blade cartridge 10, 110, 210, once the blank is formed, it is machined to define slots in which the drive rods are seated and which define the circumferences of the tines. Alternatively, the openings and slot-defining portions of the guide bar may be formed by molding.

[0123] In some versions of the saw blade cartridge 10, 110, 210, a single drive link may be all that is required to pivot the blade head. In some versions of the saw blade cartridge 10, 110, 210, one or more drive links may not be parallel to the longitudinal axis through the cartridge. Thus, in these versions of the saw blade cartridge 10, 110, 210, the openings in the guide bar in which elements of one or more drive links seat may similarly not be aligned on a line that is parallel to the longitudinal axis through the cartridge.

[0124] In versions of the saw blade cartridge 10, 110, 210 in which at least one drive link and blade are provided with complementary teeth, the guide bar may have a different structure than that described above. Specifically, the guide bar may be formed so that the head, or blade head, is not an integral part of one of the plates forming the bar. In these versions of the saw blade cartridge 10, 110, 210, the structure about which the blade pivots may be a pin attached to or integral with at least one of the plates forming the bar.

[0125] In some versions of the saw blade cartridge 10, 110, 210, two or all three of the plates forming the guide bar may not be three separate plates welded or otherwise secured together. In these alternative versions of the saw blade cartridge 10, 110, 210, the plates are machined or molded together as a single unit.

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

[0127] It is therefore intended by the appended claims to cover all such variations and modifications that fall within the true spirit and scope of the saw blade cartridge 10, 110, 210. The scope of the claims at the time of filing is as follows: [Claim 1] 1. A saw blade cartridge surgical device comprising: A guide bar including a distal portion and a proximal portion, A first plate; A second plate; an inner plate disposed partially between the first plate and the second plate and defining a pivot plane; a guide bar having a blade disposed at least partially between the first plate and the second plate; wherein the blade is a blade body including a proximal end and a distal end; a blade head disposed on the distal end of the blade body, the blade head having teeth formed thereon, the proximal end of the blade body abutting the pivot surface; the proximal portion defining a proximal end; one of the first and second plates defines a first outer edge; the inner plate defines a second outer edge, the second outer edge extending beyond the first outer edge defined by one of the first and second plates; a second outer edge tapering outward from the proximal end to the distal end of the proximal portion to assist in aligning the saw blade cartridge with the surgical device. [Claim 2] the guide bar further defines a longitudinal axis extending between the distal and proximal portions of the guide bar; the second outer edge defines a first taper angle relative to the longitudinal axis between a first point and a second point on the second outer edge; 2. The saw blade cartridge of claim 1, wherein the second outer edge defines a second taper angle relative to the longitudinal axis between the second point and a third point on the second outer edge, the first point being closer to a proximal end of the cartridge than the third point, and the second point being located between the first point and the third point. [Claim 3] The saw blade cartridge of claim 2 , wherein the second outer edge defines a third taper angle relative to the longitudinal axis between the third point and a fourth point on the second outer edge. [Claim 4] 4. The saw blade cartridge of claim 1, wherein the inner plate further includes tines extending from a proximal end of the guide bar, the tines defining the pivot surface. [Claim 5] 5. The saw blade cartridge of claim 4, wherein the tines are inner tines, the inner plate further including first and second outer tines, the inner tines being disposed between the first and second outer tines. [Claim 6] 5. The saw blade cartridge of claim 4, wherein the tines are inner tines and further include first and second outer tines, the first and second outer tines being positioned between the first and second plates, and the inner tines being disposed between the first and second outer tines. [Claim 7] 7. The saw blade cartridge of claim 5 or 6, wherein the first and second outer tines extend closer to the distal end of the guide bar than the inner tines. [Claim 8] the first and second outer tines each including a distal end; the guide bar is configured such that the distal end of each of the first and second outer tines is proximal to the distal ends of the first and second plates; 7. The saw blade cartridge of claim 5 or 6, wherein sides defined by the first and second plates define holes proximal to the distal ends of the first and second plates and distal to the distal ends of each of the first and second outer tines, the holes providing an exit for debris. [Claim 9] the first and second outer tines each including a distal tip; 7. The saw blade cartridge of claim 6, wherein the guide bar is configured such that the distal tip of each of the first and second outer tines is adjacent a distal end of the first plate and the second plate. [Claim 10] 10. The saw blade cartridge of any one of claims 1 to 9, wherein the pivot surface is an arcuate surface. [Claim 11] 11. The saw blade cartridge of claim 10, wherein the proximal end of the blade body defines a recess abutting the pivot surface such that the blade body is configured to pivot about the pivot surface defined by the inner plate when the blade body is actuated. [Claim 12] 12. The saw blade cartridge of claim 10 or 11, wherein the teeth define a thickness of the blade head that is greater than or equal to a thickness of the guide bar to allow insertion of the guide bar into a kerf cut by the blade head. [Claim 13] further comprising at least one drive link movably disposed between the first and second plates; 13. The saw blade cartridge of any one of claims 1 to 12, wherein the at least one drive link has opposed proximal and distal ends, the proximal end adapted to be attached to a drive element of the surgical device, and the distal end connected to the proximal end of the blade body, whereby reciprocating motion of the at least one drive link results in pivoting of the blade about the pivot plane. [Claim 14] The saw blade cartridge of claim 13 , wherein the at least one drive link includes at least two drive links. [Claim 15] The saw blade cartridge of claim 14 , wherein the at least two drive links are movably connected to the blade head. [Claim 16] 16. A saw blade cartridge according to any preceding claim, wherein the inner plate extends laterally beyond the outer plate. [Claim 17] The saw blade cartridge of claim 1 , wherein the inner plate further defines a slot configured to axially align the guide bar relative to the surgical device. [Claim 18] 18. The saw blade cartridge of claim 17, wherein the axial slot is oriented so that the longitudinal axis of the slot is parallel to the longitudinal axis of the guide bar. [Claim 19] 19. The saw blade cartridge of any one of claims 1 to 18, wherein at least one of the plates defines a reference feature configured to facilitate determination of a position and / or orientation of the surgical blade using a navigation system. [Claim 20] 19. The saw blade cartridge of any one of claims 1 to 18, wherein the inner plate further includes reference features configured to facilitate determining a position and / or orientation of the surgical blade using a navigation system. [Claim 21] 21. A saw blade cartridge according to claim 19 or 20, wherein the reference feature is selected from the group comprising an optical marking, a depression, or a hole. [Claim 22] the reference features include a plurality of laser markings; 21. The saw blade cartridge of claim 19 or 20, wherein at least one of the plurality of laser markings is located on either side of the longitudinal axis. [Claim 23] 23. The saw blade cartridge of any one of claims 19 to 22, wherein at least one of the first plate or the second plate is shaped to provide access to the datum feature of the inner plate. [Claim 24] 24. The saw blade cartridge of claim 23, wherein the reference feature is located on a surface of the inner plate exposed by the second outer edge of the inner plate that extends beyond the first outer edge defined by one of the first and second plates. [Claim 25] 25. A saw blade cartridge according to any one of claims 19 to 24, wherein the reference feature comprises one or more characteristics of the saw blade cartridge and is configured to identify the saw blade cartridge to the navigation system. [Claim 26] 26. The saw blade cartridge of claim 25, wherein the characteristics include at least one of the blade type, the blade thickness of the blade head, the tooth configuration of the blade head, the length of the guide bar, and / or the width of the guide bar. [Claim 27] 1. A surgical blade cartridge for use with a surgical device, comprising: A first plate; A second plate; an inner plate defining a pivot plane; a blade disposed at least partially between the first plate and the second plate; wherein the blade is a blade body including a proximal end and a distal end; a blade head disposed on the distal end of the blade body, the blade head having teeth formed thereon, the proximal end of the blade body abutting the pivot surface; Including, the medial plate including a reference feature configured to facilitate determining at least one of a position and / or an orientation of the surgical blade relative to a navigation system; A surgical blade cartridge, wherein the first plate, the second plate, and the inner plate are configured to allow access to the reference features on the inner plate. [Claim 28] 28. The surgical blade cartridge of claim 27, wherein the first and second plates define holes, the holes providing access to the datum features of the inner plate. [Claim 29] 29. The surgical blade cartridge of claim 27 or 28, wherein the reference feature is selected from the group comprising a marking, an indentation, or a hole. [Claim 30] the reference features include a plurality of laser markings; 29. The surgical blade cartridge of claim 27 or 28, wherein at least one of said plurality of laser markings is located on either side of said longitudinal axis. [Claim 31] 29. The surgical blade cartridge of claim 28, wherein the proximal end of the blade body defines a recess configured to abut the pivot surface, such that the blade body is configured to pivot about the pivot surface defined by the inner plate. [Claim 32] 32. The surgical blade cartridge of claim 28 or 31, wherein the teeth define a thickness of the blade head that is equal to or greater than a thickness of the guide bar to allow insertion of the guide bar into a cut made by the blade head. [Claim 33] 30. The surgical blade cartridge of claim 28, wherein the teeth have a thickness sufficient to form a kerf capable of receiving the guide bar. [Claim 34] The inner plate is a first outer tine; a second outer tine; and a center tine disposed between the first and second outer tines and including a distal end defining the pivot plane; 34. A surgical blade cartridge according to any one of claims 28 to 33, comprising: [Claim 35] at least one drive link is movably disposed in the gap between the first and second plates in a space between one of the first or second outer tines and the center tine; 35. The surgical blade cartridge of claim 34, wherein the at least one drive link has opposed proximal and distal ends, the proximal end adapted to be attached to a drive element of the surgical device, and the distal end connected to the proximal end of the blade body, whereby reciprocating motion of the at least one drive link results in pivoting of the blade about the pivot plane of the central tine. [Claim 36] 36. The surgical blade cartridge of any one of claims 27 to 35, wherein the reference feature is a recess defined in the inner plate. [Claim 37] 36. The surgical blade cartridge of any one of claims 27 to 35, wherein the reference feature is a hole defined in the inner plate. [Claim 38] 38. The surgical blade cartridge of any one of claims 27 to 37, wherein a portion of the inner plate extends laterally beyond an outer periphery of at least one of the first plate or the second plate. [Claim 39] 39. The surgical blade cartridge of claim 38, wherein the reference feature is located on the portion of the inner plate that extends laterally beyond the outer circumferential edge of at least one of the first plate or the second plate. [Claim 40] 40. The surgical blade cartridge of any one of claims 27 to 39, wherein the inner plate further defines a slot configured to axially align the guide bar relative to the surgical device. [Claim 41] 41. The surgical blade cartridge of claim 40, wherein the slot is oriented such that the longitudinal axis of the slot is aligned with the longitudinal axis of the guide bar. [Claim 42] 42. The surgical blade cartridge of any one of claims 27 to 41, wherein the reference feature comprises one or more characteristics of the saw blade cartridge and is configured to identify the saw blade cartridge to the navigation system. [Claim 43] 43. The surgical blade cartridge of claim 42, wherein the reference feature is configured to one or more characteristics of the saw blade cartridge, the characteristics including at least one of the blade type, the blade thickness of the blade head, the tooth configuration of the blade head, the length of the guide bar, and / or the width of the guide bar. [Claim 44] 1. A method of verifying a position and / or orientation of a surgical saw blade using a navigation system, the surgical saw blade including a medial plate having a reference feature, the medial plate being partially disposed between a first plate and a second plate, whereby an opening in at least one of the first plate or the second plate provides access to the reference feature, the method comprising: positioning an instrument including a first tracking device such that a distal end of the instrument abuts the reference feature on the inner plate by inserting the distal end of the instrument through the opening in one of the first plate or the second plate; determining an actual position and / or orientation of the reference feature based on the positioning step; determining an expected position and / or orientation of the reference feature based on predetermined geometric data corresponding to a relationship between a mounting feature of a surgical manipulator and the reference feature of the surgical saw blade; comparing the expected position and / or orientation of the reference feature with the actual position and orientation of the reference feature; A method comprising: [Claim 45] 45. The method of claim 44, wherein the surgical manipulator is one of a handheld tool, a robotic arm, or a handheld robot. [Claim 46] determining an actual position and orientation of the mounting feature; 46. ​​The method of claim 44 or 45, wherein determining the expected position of the reference feature is further based on determining an actual position and orientation of the mounting feature. [Claim 47] 47. The method of any one of claims 44 to 46, wherein the actual position and orientation of the mounting feature may be based on kinematic data, tracker data of a tracker coupled to a manipulator, encoder data from the manipulator, or a combination thereof. [Claim 48] 48. The method of any one of claims 44 to 47, further comprising displaying the position of the saw blade relative to a surgical site. [Claim 49] 49. The method of any one of claims 44 to 48, further comprising determining at least one characteristic of the surgical saw blade based on the positioning of the instrument. [Claim 50] 50. The method of any one of claims 44 to 49, further comprising navigating the surgical saw blade based on the determined position and / or orientation of the surgical saw blade. [Claim 51] 51. The method of any one of claims 44 to 50, further comprising actuating the surgical saw blade with the surgical manipulator to pivot a blade head of the surgical saw blade about a pivot plane defined by the inner plate. [Claim 52] applying the surgical saw blade to living tissue while actuating the surgical saw blade with the surgical manipulator to remove the living tissue; 52. The method of claim 51, wherein the blade head has a plurality of teeth formed thereon, the teeth defining a thickness of the blade head that is equal to or greater than a thickness of a guide bar of the surgical saw blade to allow insertion of the surgical saw blade into a cut made by the blade head. [Claim 53] 52. The method of claim 51, further comprising determining the position and / or orientation of the distal end of the surgical saw blade relative to a target object based on a position of a second tracking device coupled to the surgical manipulator while the blade head is applied to living tissue. [Claim 54] 54. The method of any one of claims 44 to 53, wherein the step of positioning the instrument verifies a tool center point of the surgical saw blade relative to the navigation system. [Claim 55] 55. The method of claim 54, wherein the tool center point corresponds to the pivot plane defined by the inner plate. [Claim 56] 1. A surgical sagittal saw blade cartridge comprising: a guide bar including a first plate and a second plate; a blade disposed at least partially between the first plate and the second plate at a distal end of the guide bar, the blade comprising: a blade body including a proximal end and a distal end; a blade head disposed on the distal end of the blade body and extending from the distal end of the guide bar, the blade head having teeth formed thereon, the teeth comprising: Multiple basal teeth; a first leading tooth; the surgical sagittal saw blade cartridge further comprising: at least one drive link movably disposed within a space defined between the first plate and the second plate of the guide bar, the at least one drive link having opposed proximal and distal ends, the proximal end adapted to be attached to a drive element of a surgical device, and the distal end connected to the proximal end of the blade body, whereby reciprocating movement of the at least one drive link results in pivoting of the blade about a pivot plane; the base tooth is configured to move along a first arc and the first leading tooth is configured to move along a second arc when the blade is pivoted; The second arc is distal to the first arc. [Claim 57] the blade body defines a first plane (Plane 1) extending between the proximal end and the distal end, the first plane being oriented generally perpendicular to a top surface of the blade body and bisecting the blade body; the blade head defines a second plane (Plane 2) perpendicular to the first plane, the second plane bisecting the blade head to define a top portion and a bottom portion; an intersection of the first plane and the second plane defines a central axis of the blade body; the blade head defines a plane of symmetry (plane 3), the plane of symmetry being defined to intersect the central axis and be oriented at a mirror angle from the second plane; 57. The surgical sagittal saw blade cartridge of claim 56, wherein the teeth further include a second leading tooth, and the blade head is configured such that the second leading tooth is a mirrored representation of the first leading tooth mirrored relative to the plane of symmetry. [Claim 58] 58. The surgical sagittal saw blade cartridge of claim 57, wherein the mirror angle is greater than 0 and less than 90 degrees. [Claim 59] 58. The surgical sagittal saw blade cartridge of claim 57, wherein the second leading tooth moves along the second arc as the blade pivots. [Claim 60] 60. The surgical sagittal saw blade cartridge of any one of claims 57 to 59, wherein the first leading tooth defines a first cutting edge having a rake angle of between -10 and +10 degrees. [Claim 61] 61. The surgical sagittal saw blade cartridge of claim 60, wherein the second leading tooth defines a second cutting edge having a rake angle configured to mirror the rake angle of the first leading tooth relative to the mirror plane. [Claim 62] 62. The surgical sagittal saw blade cartridge of any one of claims 56 to 61, wherein the base teeth each define a base tooth cutting edge having a rake angle of between -20 and 20 degrees. [Claim 63] 63. The surgical sagittal saw blade cartridge of claim 62, wherein the rake angle of the base tooth is set to between 0 and 10 degrees relative to the rake angle of the first leading tooth. [Claim 64] The blade body is a first plane extending between the proximal and distal ends of the blade body, the first plane being oriented generally perpendicular to a top surface of the blade body and bisecting the blade body; a second plane perpendicular to the first plane, the second plane bisecting the blade body to define a first portion and a second portion; Define the the first leading tooth defines an apex extending from the first portion defined by the second plane; the base tooth defines a plurality of apexes extending from the first and second portions defined by the second plane; 57. The surgical sagittal saw blade cartridge of claim 56, wherein the apex of the first leading tooth extends beyond each of the plurality of apexes of the base tooth. [Claim 65] the blade further includes a second leading tooth; the second leading tooth defines an apex extending from the first portion defined by the second plane; 65. The surgical sagittal saw blade cartridge of claim 64, wherein the apex of the second leading tooth extends beyond each of the plurality of apexes of the base tooth but less than the apex of the first leading tooth. [Claim 66] 66. The surgical sagittal saw blade cartridge of claim 65, wherein the first leading tooth and the second leading tooth are asymmetrically positioned across the first plane. [Claim 67] the base tooth is configured to move along a first arc when the blade body pivots about the pivot plane, and the first leading tooth and the second leading tooth are configured to move along a second arc; 66. The surgical sagittal saw blade cartridge of claim 65, wherein the second arc is distal to the first arc. [Claim 68] 68. The surgical sagittal saw blade cartridge of any one of claims 64 to 67, wherein the first leading tooth defines a first cutting edge having a rake angle of between -10 and +10 degrees. [Claim 69] 69. The surgical sagittal saw blade cartridge of any one of claims 64 to 68, wherein the second leading tooth defines a second cutting edge having a rake angle of between -10 and +10 degrees. [Claim 70] 70. The surgical sagittal saw blade cartridge of any one of claims 64 to 69, wherein the base teeth each define a base tooth cutting edge having a rake angle of between -20 and 20 degrees. [Claim 71] 71. A surgical sagittal saw blade cartridge according to any one of claims 68 to 70, wherein the rake angle of the base tooth is set to -10 to 10 degrees relative to a line connecting the tip of the rake face and the blade pivot axis. [Claim 72] 72. The surgical sagittal saw blade cartridge of any one of claims 56 to 71, wherein the pivot surface is disposed between the first plate and the second plate. [Claim 73] 73. The surgical sagittal saw blade cartridge of claim 72, wherein the pivot surface includes a pin having opposite ends, each of the opposite ends coupled to one of the first plate and the second plate. [Claim 74] 73. The surgical sagittal saw blade cartridge of claim 72, wherein the pivot surface includes a pivot boss, the pivot boss being defined by the guide bar. [Claim 75] 75. A surgical sagittal saw blade cartridge according to any one of claims 56 to 74, wherein the proximal end of the blade defines a recessed slot configured to abut the pivot surface. [Claim 76] 1. A surgical blade for a sagittal saw blade cartridge including a proximal end and a distal end, defining a pivot plane between said proximal end and said distal end, a blade body including a proximal end and a distal end, the blade body configured to pivot about the pivot plane; a blade head disposed on the distal end of the blade body and extending from the distal end of the sagittal saw blade cartridge, the blade head having teeth formed thereon, the teeth comprising: Multiple basal teeth; The first leading tooth and The second leading tooth and Including, The surgical blade further comprises: a first plane (Plane 1) extending between the proximal and distal ends of the blade body, the first plane being oriented generally perpendicular to the top surface of the blade body and bisecting the blade body; a second plane (Plane 2) perpendicular to the first plane, the second plane dividing the blade body into two halves defining a top portion and a bottom portion; an intersection of the first plane (Plane 1) and the second plane (Plane 2) defines a central axis of the blade body; The surgical blade further comprises: a mirror plane (Plane 3) configured to intersect the central axis and be oriented at a mirror angle (θ) measured from the second plane (Plane 2); A surgical blade for a sagittal saw blade cartridge, wherein the blade head is configured such that the second leading tooth is a mirrored representation of the first leading tooth mirrored relative to the plane of symmetry (plane 3). [Claim 77] When the blade body pivots about the pivot plane, the base tooth is configured to move along a first arc, and the first leading tooth and the second leading tooth are configured to move along a second arc; 77. The surgical sagittal saw blade cartridge of claim 76, wherein the second arc is distal to the first arc. [Claim 78] 78. The surgical sagittal saw blade cartridge of claim 77, wherein the mirror angle is greater than 0 and less than 90. [Claim 79] 77. The surgical sagittal saw blade cartridge of claim 76, wherein the first leading tooth defines a first cutting edge having a rake angle of between -10 and +10 degrees. [Claim 80] 80. The surgical sagittal saw blade cartridge of claim 79, wherein the second leading tooth defines a second cutting edge having a mirrored representation of the rake angle of the first leading tooth mirrored relative to the plane of symmetry. [Claim 81] 81. The surgical sagittal saw blade cartridge of any one of claims 76 to 80, wherein the base teeth each define a base tooth cutting edge having a rake angle of between -20 and 20 degrees. [Claim 82] 82. A surgical sagittal saw blade cartridge according to any one of claims 56 to 81, wherein the rake angle of the base tooth is set to 0 to 10 degrees relative to a line connecting the tip of the rake face and the blade pivot axis. [Claim 83] 1. A surgical blade including a proximal end and a distal end, defining a plane of pivot between said proximal end and said distal end, a blade body including a proximal end and a distal end, the blade body configured to pivot about the pivot plane; a blade head disposed on the distal end of the blade body, the blade head having teeth formed thereon, the teeth comprising: Multiple basal teeth; a first leading tooth; The surgical blade further comprises: a first plane extending between the proximal and distal ends of the blade body, the first plane being oriented generally perpendicular to a top surface of the blade body and bisecting the blade body; a second plane perpendicular to the first plane, the second plane bisecting the blade body to define a first portion and a second portion; Equipped with the first leading tooth defines a first apex relative to the pivot surface; the base tooth defines a second apex relative to the pivot surface; A surgical blade, wherein the first apex of the first leading tooth is distal to the second apex of the base tooth. [Claim 84] the blade further comprises a second leading tooth; the second leading tooth defines a third apex relative to the pivot surface; 84. The surgical blade of claim 83, wherein the apex of the second leading tooth is distal to the base tooth and proximal to the first apex of the first leading tooth. [Claim 85] 85. The surgical blade of claim 84, wherein the first leading tooth and the second leading tooth are asymmetrically positioned across the first plane. [Claim 86] When the blade body pivots about the pivot plane, the blade head the first leading tooth is configured to move through a first arc; the second leading tooth is configured to move through a second arc; the base tooth is configured to move through a third arc; the first arc is distal to the second arc and the third arc; 84. The surgical blade of claim 83, configured such that the second arc is distal to the third arc. [Claim 87] 87. The surgical blade of any one of claims 83 to 86, wherein the first leading tooth defines a first cutting edge having a rake angle of between -10 and +10 degrees. [Claim 88] 88. The surgical blade of any one of claims 83 to 87, wherein the second leading tooth defines a second cutting edge having a rake angle of between -10 and +10 degrees. [Claim 89] 89. The surgical blade of any one of claims 83 to 88, wherein each of the base teeth defines a base tooth cutting edge having a rake angle of between -20 and 20 degrees. [Claim 90] 90. The surgical blade according to claim 87, wherein the rake angle of the base tooth is set to -10 to 10 degrees with respect to a line connecting the tip of the rake face and the blade pivot axis. [Claim 91] 1. A method of cutting biological tissue with a surgical blade comprising a blade head having a leading tooth extending distally beyond a plurality of adjacent base teeth, the blade head being configured to be bisected into first and second portions by a first plane generally parallel to a top surface of the blade head, the leading tooth being disposed on the first portion and extending distally beyond the plurality of base teeth, the method comprising: automatically controlling a surgical manipulator to position the surgical blade on a target plane relative to the biological tissue such that the first leading tooth contacts the biological tissue before any of the plurality of base teeth contact the biological tissue; actuating the surgical blade with a surgical manipulator while the blade is on the target plane; A method comprising: [Claim 92] 1. A surgical sagittal saw blade cartridge for use with a surgical device, comprising: a guide bar including a distal portion and a proximal portion, said guide bar comprising: A first plate; A second plate; an inner plate disposed between the first plate and the second plate and defining a pivot surface and a first opening; Including, the surgical sagittal saw blade cartridge further comprising: a blade disposed at least partially between the first plate and the second plate at the distal end of the guide bar, the blade having a blade body defining a second pivot surface for pivoting about the pivot surface of the inner plate; one of the first and second plates defines a first outer edge of the proximal portion of the guide bar; the inner plate defines a second outer edge of the proximal portion of the guide bar, the guide bar being shaped such that the second outer edge extends beyond the first outer edge defined by one of the first and second plates; a surgical sagittal saw blade cartridge, wherein a combination of the first opening in the inner plate and the second outer edge of the proximal portion of the guide bar defined by the inner plate is configured to axially align the saw blade cartridge with respect to the surgical device. [Claim 93] 93. The surgical sagittal saw blade cartridge of claim 92, wherein the guide bar is further formed such that the second outer edge extends laterally beyond the first outer edge defined by one of the first and second plates relative to a longitudinal axis extending between the distal and proximal portions of the guide bar. [Claim 94] the pivot surface defines a radius having a center, the center of the pivot surface being located on the longitudinal axis; 93. The surgical sagittal saw blade cartridge of claim 92, wherein a combination of the first opening and the second opening in the inner plate is further configured to axially align the pivot surface with respect to the surgical device. [Claim 95] 95. The surgical sagittal saw blade cartridge of claim 92 or 94, wherein the first opening and the second opening are each positioned along the longitudinal axis. [Claim 96] 96. The surgical sagittal saw blade cartridge of any one of claims 92 to 95, wherein the guide bar defines a second opening, the second opening defining a keyhole shaped opening configured to receive a coupling post of the surgical device to removably secure the guide bar to the surgical device. [Claim 97] 1. A surgical sagittal saw blade cartridge for use with a surgical device, comprising: a guide bar including a distal portion and a proximal portion, said guide bar comprising: A first plate; A second plate; an inner plate disposed between the first plate and the second plate and defining a pivot surface, a first opening, and a second opening; Including, the surgical sagittal saw blade cartridge further comprising: a longitudinal axis extending between the distal and proximal portions of the guide bar and configured to bisect the guide bar; a blade disposed at least partially between the first plate and the second plate at a distal end of the guide bar, the blade having a blade body defining a pivot surface for pivoting about the pivot surface of the inner plate; Equipped with one of the first and second plates defines a first outer edge of the proximal portion of the guide bar; the inner plate defines a second outer edge of the proximal portion of the guide bar, the guide bar being shaped such that the second outer edge extends beyond the first outer edge defined by one of the first and second plates; the first opening and the second opening are each positioned along the longitudinal axis; A surgical sagittal saw blade cartridge, wherein a combination of the first opening and the second opening in the inner plate is configured to axially align the saw blade cartridge with respect to the surgical device. [Claim 98] 98. The surgical sagittal saw blade cartridge of claim 97, wherein the combination of the first opening and the second opening in the inner plate is further configured to axially align the pivot plane with respect to the surgical device. [Claim 99] 1. A surgical blade cartridge for use with a surgical device, comprising: A first plate; A second plate; an inner plate defining a pivot plane, a first opening, and a reference feature, the reference feature configured to facilitate determining at least one of a position and / or orientation of the surgical blade relative to a navigation system; Equipped with at least one of the first plate or the second plate defines an opening configured to provide access to the reference feature on the inner plate; A surgical blade cartridge, wherein the first opening in the inner plate is configured to axially align a center of radius of the pivot surface with the surgical device. [Claim 100] 100. The surgical blade cartridge of claim 99, wherein the center of the radius of the pivot surface, the first opening, and each of the reference features are all located on the inner plate and positioned on a longitudinal axis extending between a distal portion and a proximal portion of the inner plate. [Claim 101] 1. A method of validating placement of a surgical saw blade on a surgical manipulator to which the surgical saw blade is coupled through a mounting feature, the method utilizing a navigation system having an instrument including a first tracking device and a distal tip, the surgical saw blade including an inner plate having a fiducial feature, the inner plate being partially disposed between a first plate and a second plate, the first and / or second plate being shaped such that at least one of the first plate or the second plate provides access to the fiducial feature, the method comprising: using the navigation system to track the first tracking device while the distal tip of the instrument is positioned against the reference feature; using the navigation system to determine the actual position and orientation of the reference feature based on the tracking step; and comparing, using the navigation system, the actual position and orientation of the reference feature with an expected position and orientation of the reference feature, the expected position and orientation being based on predetermined geometric data corresponding to a relationship between the mounting features of the surgical manipulator and the reference features of the surgical saw blade. method. [Claim 102] at least one of the first plate or the second plate includes an opening to provide access to the reference feature; 102. The method of claim 101, further comprising positioning the distal end of the instrument through the opening in one of the first plate or the second plate and against the reference feature. [Claim 103] 102. The method of claim 101, further comprising identifying a characteristic of the surgical saw blade based on the actual position and orientation of the reference feature. [Claim 104] 1. A method of attaching a surgical saw blade to a surgical manipulator, the surgical saw blade including two outer plates, an inner plate positioned partially between the two outer plates, the inner plate defining a first opening, a second opening, and a pivot plane, the method comprising: positioning the surgical saw blade such that an alignment post of the surgical manipulator is located in the first opening and a coupling post of the surgical manipulator is located within the second opening of the medial plate; axially aligning the inner plate with respect to the surgical manipulator by sliding the inner plate proximally toward the surgical manipulator and moving the alignment post and the connecting post from proximal positions within the first and second openings to distal positions within the first and second openings, respectively; A method comprising: [Claim 105] 1. A method of assembling a surgical sagittal saw, comprising: attaching the surgical saw blade to the surgical manipulator by positioning the surgical saw blade such that an alignment post of the surgical manipulator is located within a first opening of the surgical saw blade and the coupling post of the surgical manipulator is located within a second opening of the surgical saw blade; sliding the surgical saw blade proximally toward the surgical manipulator to move the alignment post and the linking post from proximal positions within the first and second openings to distal positions within the first and second openings, respectively; Including, the alignment post is sized to simultaneously engage opposing sides of the first opening when positioned at the distal position within the first opening to axially align the surgical saw blade with the surgical manipulator as the surgical saw blade is slid proximally toward the surgical manipulator. [Claim 106] 1. A surgical sagittal saw blade cartridge for use with a surgical device, comprising: a guide bar including a distal portion and a proximal portion, said guide bar comprising: A first plate; A second plate; an inner plate disposed between the first plate and the second plate and including inner tines defining a pivot plane; Including, the surgical sagittal saw blade cartridge further comprising: a longitudinal axis extending between the distal and proximal portions of the guide bar and configured to bisect the guide bar; a blade disposed at least partially between the first plate and the second plate at the distal end of the guide bar, the blade having a blade body defining a pivot surface for pivoting about the pivot surface of the inner tine; Equipped with one of the first and second plates defines a first outer edge of the proximal portion of the guide bar; the medial plate defines a second outer edge of the proximal portion of the guide bar, the guide bar being formed such that the second outer edge extends laterally relative to the longitudinal axis beyond the first outer edge defined by one of the first and second plates; 1. A surgical sagittal saw blade cartridge, wherein at least one of the first plate and the second plate is coupled to the inner plate by a weld formed between the inner tine, the first plate, and / or the second plate. [Claim 107] 107. The surgical sagittal saw blade cartridge of claim 106, wherein the inner tine further defines a first opening, the first opening configured to align the pivot plane with respect to the surgical device. [Claim 108] 1. A saw blade cartridge for use with a surgical device, comprising: a guide bar including a distal portion and a proximal portion, said guide bar comprising: A first plate; The second plate and Including, the first plate is coupled to the second plate, the first plate including a pivot surface; The saw blade cartridge further comprises: a blade disposed at least partially between the first plate and the second plate, the blade comprising: a blade body including a proximal end and a distal end; a blade head disposed on the distal end of the blade body and configured to extend from the distal portion of the guide bar, the blade head having teeth formed thereon, the proximal end of the blade body abutting the pivot surface; the proximal portion defining a proximal end; the first plate defining a first outer edge; the second plate defines a second outer edge; the guide bar is configured such that the first outer edge extends beyond the second outer edge; A saw blade cartridge, wherein the first outer edge tapers outward from the proximal end to the distal end of the proximal portion of the guide bar, whereby the first outer edge assists in aligning the saw blade cartridge with the surgical device. [Claim 109] 1. A saw blade cartridge for use with a surgical device, comprising: a guide bar including a distal portion and a proximal portion, said guide bar comprising: A first plate; A second plate; an inner plate disposed partially between the first plate and the second plate and defining a pivot plane; Including, The saw blade cartridge further comprises: a blade disposed at least partially between the first plate and the second plate, a blade body including a proximal end and a distal end; a blade including a blade head disposed on the distal end of the blade body and configured to extend from the distal portion of the guide bar, the blade head having teeth formed thereon, the proximal end of the blade body abutting the pivot surface; a longitudinal axis extending between the distal and proximal portions of the guide bar; Equipped with the proximal portion defining a proximal end; one of the first and second plates defines a first outer edge of the proximal portion of the guide bar; the inner plate is configured to define a second outer edge of the proximal portion of the guide bar, the second outer edge extending beyond the first outer edge defined by one of the first and second plates. [Claim 110] 1. A saw blade cartridge for use with a surgical device, comprising: a guide bar including a distal portion and a proximal portion, said guide bar comprising: A first plate; A second plate; an inner plate disposed partially between the first plate and the second plate and configured to define a pivot plane; Including, The saw blade cartridge further comprises: a blade disposed at least partially between the first plate and the second plate, the blade comprising: a longitudinal axis extending between the distal and proximal portions of the guide bar; the proximal portion defining a proximal end; one of the first and second plates defines a first outer edge; the inner plate defines a second outer edge that extends beyond the first outer edge defined by one of the first and second plates, the second outer edge tapering outward from the proximal end to the distal end of the proximal portion, whereby the second outer edge assists in aligning the saw blade cartridge with the surgical device; the medial plate further comprising a reference feature configured to facilitate determination of at least one of a position and / or orientation of the surgical blade using a navigation system; A saw blade cartridge wherein at least one of the first plate or the second plate is configured to provide access to the datum feature of the inner plate. [Claim 111] 1. A surgical saw system comprising: a surgical device having a mount defining a mounting surface, the mount comprising: A connecting post and Alignment post and Including, The surgical saw system further comprises: a saw blade cartridge removably connectable to the mount of the surgical device, the saw blade cartridge comprising: A guide bar including a distal portion and a proximal portion, an inner plate defining a pivot plane, a first opening, and a second opening; a guide bar including: a blade disposed at a distal end of the guide bar, the blade having a blade body defining a pivot surface for pivoting about the pivot surface of the inner plate; Equipped with the first opening is sized to receive and slidably engage the alignment post of the mount to axially align the saw blade cartridge with respect to the surgical device; The second opening is sized to receive the coupling post of the mount to removably couple the saw blade cartridge to the surgical device. [Claim 112] The guide bar is A first plate; The second plate and further comprising the inner plate is disposed between the first plate and the second plate; 112. The surgical saw system of claim 111, wherein the blade is at least partially disposed between the first plate and the second plate. [Claim 113] the first plate defines a third opening, the second plate defines a fourth opening, each of the third and fourth openings being concentric with the first opening in the inner plate; 113. The surgical saw system of claim 112, wherein the third and fourth openings formed in the first and second plates each define an opening larger than the first opening in the medial plate. [Claim 114] the alignment post comprises a pin, and the first opening comprises a stadium-shaped opening having opposing sides, each of the opposing sides oriented generally parallel to the longitudinal axis; 113. The surgical saw system of claim 111 or 112, wherein the opposing sides are spaced apart from one another such that each of the opposing sides engages an outer surface of the alignment post when the alignment post is positioned within the first opening. [Claim 115] 115. The surgical saw system of any one of claims 111 to 114, wherein the surgical device comprises a robotic arm. [Claim 116] 115. The surgical saw system of any one of claims 111 to 114, wherein the surgical device comprises a handheld surgical saw. [Claim 117] 1. A surgical saw system comprising: a surgical device having a mount, the mount defining a mounting surface, the mount comprising: first and second walls extending above the mounting surface, the first and second walls being positioned on opposite sides of a longitudinal axis of the mount and tapered relative to the longitudinal axis of the mount to facilitate alignment of the saw blade cartridge along the longitudinal axis; and at least one tab disposed on each of the first and second walls, the at least one tab positioned above the mounting surface such that each of the at least one tab extends over the mounting surface; Including, The surgical saw system further comprises: a saw blade cartridge removably connectable to the mount of the surgical device, the saw blade cartridge comprising: a guide bar including a distal portion and a proximal portion, said guide bar comprising: A first plate; A second plate; an inner plate partially disposed between the first plate and the second plate; Including, one of the first and second plates defines a first outer edge; the inner plate is configured to define a second outer edge, the second outer edge extending beyond the first outer edge defined by one of the first and second plates; each of the first and second walls engages the second outer edge of the medial plate and a lower surface of each of the at least one tab engages an upper surface of the medial plate. [Claim 118] the mount further comprising at least one of a connection post and an alignment post; the inner plate further defines at least one of a first opening and a second opening; 118. The surgical saw system of claim 117, wherein the first opening is sized to receive and slidably engage the alignment post of the mount and the second opening is sized to receive the connection post of the mount, such that at least one of the first opening and the second opening of the inner plate, in combination with engagement of the first and second walls with the second outer edge, is configured to axially align the saw blade cartridge with the surgical device. [Claim 119] 119. The surgical saw system of claim 117 or 118, wherein the surgical device comprises a robotic arm. [Claim 120] 119. The surgical saw system of claim 117 or 118, wherein the surgical device comprises a handheld surgical saw. [Claim 121] 1. A saw blade cartridge for use with a surgical device, comprising: A guide bar including a distal portion and a proximal portion, A first plate; The second plate and a guide bar including: a blade disposed at least partially between the first plate and the second plate, the blade comprising: a blade body including a proximal end and a distal end; a blade head disposed on the distal end of the blade body and configured to extend from the distal portion of the guide bar, the blade head having teeth formed therein; Including, A saw blade cartridge wherein the blade head defines one or more holes for allowing debris to exit. [Claim 122] 1. A method of manufacturing a saw blade cartridge for use with a surgical manipulator, comprising: forming one or more holes in a blank piece of material that will become the blade head of the saw blade cartridge; machining the blank to form one or more teeth at locations on the blank based on the location and / or position of the one or more holes; A method comprising: [Claim 123] 123. The method of claim 122, wherein machining the blank comprises grinding the blank. [Claim 124] 1. A surgical sagittal saw blade cartridge for use with a surgical device, comprising: A guide bar including a distal portion and a proximal portion, A first plate; a second plate; a guide bar, one of the first and second plates defining a pivot member; a longitudinal axis extending between the distal and proximal portions of the guide bar and configured to bisect the guide bar; a blade disposed at least partially between the first plate and the second plate at a distal end of the guide bar, the blade having a blade body defining a pivot plane for pivoting about the pivot plane; Equipped with the guide bar has a first outer edge of the proximal portion of the guide bar and a second outer edge of the proximal portion of the guide bar, the guide bar being formed such that the second outer edge extends beyond the first outer edge; the one of the plates defining the pivot member includes a first opening positioned along the longitudinal axis; A surgical sagittal saw blade cartridge, wherein the first opening and the second outer edge in combination are configured to axially align the saw blade cartridge with respect to the surgical device. [Claim 125] 1. A surgical sagittal saw blade cartridge for use with a surgical device, comprising: A guide bar including a distal portion and a proximal portion, A first plate; a second plate; a guide bar, one of the first and second plates defining a pivot member; a longitudinal axis extending between the distal and proximal portions of the guide bar and configured to bisect the guide bar; a blade disposed at least partially between the first plate and the second plate at a distal end of the guide bar, the blade having a blade body defining a pivot plane for pivoting about the pivot plane; Equipped with the guide bar has a first outer edge of the proximal portion of the guide bar and a second outer edge of the proximal portion of the guide bar, the guide bar being formed such that the second outer edge extends beyond the first outer edge; A surgical sagittal saw blade cartridge, wherein the second outer edge is configured to axially align the saw blade cartridge with respect to the surgical device. [Claim 126] 1. A saw blade cartridge for use with a surgical device and for alignment with a surgical navigation system using an alignment tool, comprising: a guide bar including a distal portion and a proximal portion, said guide bar comprising: A first plate; A second plate; an inner plate partially disposed between the first plate and the second plate; Including, one of the first and second plates defines an opening for providing access to a surface of the inner plate, the opening being shaped to define a first region and a second region; the first region has a first size and is configured to receive insertion of an alignment tool; the second area has a second size smaller than the first size and is configured to position the alignment tool to a reference feature on the guide bar and / or the inner plate; The saw blade cartridge further comprises: A saw blade cartridge comprising a blade at least partially disposed between the first plate and the second plate. [Claim 127] 1. A saw blade cartridge for use with a surgical device, comprising: a guide bar including a distal portion and a proximal portion, said guide bar comprising: A first plate; A second plate; an inner plate partially disposed between the first plate and the second plate, the inner plate configured to define a pivot plane; Including, The saw blade cartridge further comprises: a blade disposed at least partially between the first plate and the second plate, the blade comprising: a blade body including a proximal end and a distal end; a blade head disposed on the distal end of the blade body and configured to extend from the distal portion of the guide bar, the blade head having teeth formed thereon, the proximal end of the blade body abutting the pivot surface; a surface of the inner plate defining contact points for releasably engaging the surgical device; A saw blade cartridge, wherein one of the first and second plates is shaped to provide access to the contact points on the inner plate, whereby the contact points on the inner plate assist in aligning the saw blade cartridge with the surgical device. [Claim 128] 1. A surgical sagittal saw blade cartridge for use with a surgical device, comprising: a guide bar including a distal portion and a proximal portion, said guide bar comprising: A first plate; A second plate; an inner plate disposed between the first plate and the second plate and defining a pivot surface and a first opening; Including, the surgical sagittal saw blade cartridge further comprising: a blade disposed at least partially between the first plate and the second plate at the distal end of the guide bar, the blade having a blade body defining a second pivot surface for pivoting about the pivot surface of the inner plate; one of the first and second plates defines a first outer edge of the proximal portion of the guide bar; the inner plate defines a second outer edge of the proximal portion of the guide bar, the guide bar being shaped such that the second outer edge extends beyond the first outer edge defined by one of the first and second plates; A surgical sagittal saw blade cartridge, wherein at least one of the first opening in the inner plate and the second outer edge of the proximal portion of the guide bar defined by the inner plate is configured to orient the saw blade cartridge relative to the surgical device.

Claims

1. 1. A saw blade cartridge for use with a surgical device, comprising: A guide bar including a distal portion and a proximal portion, a first plate; a second plate; an inner plate disposed partially between the first plate and the second plate and defining a pivot plane; a guide bar having a blade disposed at least partially between the first plate and the second plate; wherein the blade is a blade body including a proximal end and a distal end; a blade head disposed on the distal end of the blade body, the blade head having teeth formed thereon, the proximal end of the blade body abutting the pivot surface; the proximal portion defining a proximal end; one of the first and second plates defines a first outer edge; the inner plate defines a second outer edge, the second outer edge extending beyond the first outer edge defined by one of the first and second plates; a second outer edge tapering outward from the proximal end to the distal end of the proximal portion to assist in aligning the saw blade cartridge with the surgical device.

2. the guide bar further defines a longitudinal axis extending between the distal and proximal portions of the guide bar; the second outer edge defines a first taper angle relative to the longitudinal axis between a first point and a second point on the second outer edge; 2. The saw blade cartridge of claim 1, wherein the second outer edge defines a second taper angle relative to the longitudinal axis between the second point and a third point on the second outer edge, the first point being closer to a proximal end of the cartridge than the third point, and the second point being located between the first point and the third point.

3. The saw blade cartridge of claim 1 or 2, wherein the inner plate further includes tines extending from a proximal end of the guide bar, the tines defining the pivot surface.

4. 4. The saw blade cartridge of claim 3, wherein the tines are inner tines and further include first and second outer tines, the first and second outer tines being positioned between the first and second plates, and the inner tines being disposed between the first and second outer tines.

5. 5. The saw blade cartridge of claim 4, wherein said first and second outer tines extend closer to said distal end of said guide bar than said inner tines.

6. the first and second outer tines each including a distal end; the guide bar is configured such that the distal end of each of the first and second outer tines is proximal to the distal ends of the first and second plates; 5. The saw blade cartridge of claim 4, wherein sides defined by the first and second plates define holes proximal to the distal ends of the first and second plates and distal to the distal ends of each of the first and second outer tines, the holes providing an exit for debris.

7. the turning surface is an arcuate surface; 7. The saw blade cartridge of claim 1, wherein the proximal end of the blade body defines a recess abutting the pivot surface such that the blade body is configured to pivot about the pivot surface defined by the inner plate when the blade body is actuated.

8. 8. The saw blade cartridge of claim 7, wherein the teeth define a thickness of the blade head that is equal to or greater than a thickness of the guide bar to allow insertion of the guide bar into a kerf cut by the blade head.

9. further comprising at least one drive link movably disposed between the first and second plates; 9. The saw blade cartridge of any one of claims 1 to 8, wherein the at least one drive link has opposed proximal and distal ends, the proximal end adapted to be attached to a drive element of the surgical device and the distal end connected to the proximal end of the blade body, whereby reciprocating motion of the at least one drive link results in pivoting of the blade about the pivot plane.

10. A saw blade cartridge according to any one of claims 1 to 9, wherein the inner plate extends laterally beyond the outer plate.

11. 11. The saw blade cartridge of claim 1, wherein at least one of the plates defines a reference feature configured to facilitate determination of a position and / or orientation of the surgical blade using a navigation system.

12. 11. The saw blade cartridge of claim 1, wherein the inner plate further includes reference features configured to facilitate determining a position and / or orientation of the surgical blade using a navigation system.

13. 13. A saw blade cartridge according to claim 11 or 12, wherein the reference feature is selected from the group comprising an optical marking, a dimple, or a hole.

14. the reference features include a plurality of laser markings; 13. The saw blade cartridge of claim 11 or 12, wherein at least one of the plurality of laser markings is located on either side of the longitudinal axis.

15. 15. A saw blade cartridge according to any one of claims 11 to 14, wherein at least one of the first plate or the second plate is shaped to provide access to the datum feature of the inner plate.

16. A saw blade cartridge according to any one of claims 11 to 15, wherein the reference feature comprises one or more characteristics of the saw blade cartridge and is configured to identify the saw blade cartridge to the navigation system.

17. 17. The saw blade cartridge of claim 16, wherein the characteristics include at least one of the blade type, the blade thickness of the blade head, the tooth configuration of the blade head, the length of the guide bar, and / or the width of the guide bar.

18. 1. A surgical sagittal saw blade cartridge for use with a surgical device, comprising: a guide bar including a distal portion and a proximal portion, said guide bar comprising: a first plate; a second plate; and an inner plate disposed between the first plate and the second plate and including inner tines defining a pivot plane; Including, the surgical sagittal saw blade cartridge further comprising: a longitudinal axis extending between the distal and proximal portions of the guide bar and configured to bisect the guide bar; a blade disposed at least partially between the first plate and the second plate at the distal end of the guide bar, the blade having a blade body defining a pivot surface for pivoting about the pivot surface of the inner tine; Equipped with one of the first and second plates defines a first outer edge of the proximal portion of the guide bar; the medial plate defines a second outer edge of the proximal portion of the guide bar, the guide bar being formed such that the second outer edge extends laterally relative to the longitudinal axis beyond the first outer edge defined by one of the first and second plates; 1. A surgical sagittal saw blade cartridge, wherein at least one of the first plate and the second plate is connected to the inner plate by a weld formed between the inner tine, the first plate, and / or the second plate.

19. 1. A saw blade cartridge for use with a surgical device, comprising: a guide bar including a distal portion and a proximal portion, said guide bar comprising: a first plate; a second plate; and an inner plate disposed partially between the first plate and the second plate and defining a pivot plane; Including, The saw blade cartridge further comprises: a blade disposed at least partially between the first plate and the second plate, a blade body including a proximal end and a distal end; a blade including a blade head disposed on the distal end of the blade body and configured to extend from the distal portion of the guide bar, the blade head having teeth formed thereon, the proximal end of the blade body abutting the pivot surface; a longitudinal axis extending between the distal and proximal portions of the guide bar; Equipped with the proximal portion defining a proximal end; one of the first and second plates defines a first outer edge of the proximal portion of the guide bar; the inner plate is configured to define a second outer edge of the proximal portion of the guide bar, the second outer edge extending beyond the first outer edge defined by one of the first and second plates.

20. 1. A surgical saw system comprising: a surgical device having a mount, the mount defining a mounting surface, the mount comprising: a first wall and a second wall extending above the mounting surface, the first wall and the second wall being positioned on opposite sides of a longitudinal axis of the mount; at least one tab disposed on each of the first and second walls, the at least one tab positioned above the mounting surface such that each of the at least one tab extends over the mounting surface; Including, The surgical saw system further comprises: a saw blade cartridge removably connectable to the mount of the surgical device, the saw blade cartridge comprising: a guide bar including a distal portion and a proximal portion, said guide bar comprising: a first plate; a second plate; and an inner plate partially disposed between the first plate and the second plate; Including, one of the first and second plates defines a first outer edge; the inner plate is configured to define a second outer edge, the second outer edge extending beyond the first outer edge defined by one of the first and second plates; the first and second walls are tapered relative to the longitudinal axis of the mount to facilitate alignment of the saw blade cartridge along the longitudinal axis; each of the first and second walls engages the second outer edge of the medial plate and a lower surface of each of the at least one tab engages an upper surface of the medial plate.

21. 1. A surgical sagittal saw blade cartridge for use with a surgical device, comprising: a guide bar including a distal portion and a proximal portion, said guide bar comprising: a first plate; a second plate; and an inner plate disposed between the first plate and the second plate and defining a pivot surface and a first opening; Including, the surgical sagittal saw blade cartridge further comprising: a blade disposed at least partially between the first plate and the second plate at the distal end of the guide bar, the blade having a blade body defining a second pivot surface for pivoting about the pivot surface of the inner plate; one of the first and second plates defines a first outer edge of the proximal portion of the guide bar; the inner plate defines a second outer edge of the proximal portion of the guide bar, the guide bar being formed such that the second outer edge extends beyond the first outer edge defined by one of the first and second plates; a surgical sagittal saw blade cartridge, wherein at least one of the first opening in the inner plate and the second outer edge of the proximal portion of the guide bar defined by the inner plate is configured to orient the saw blade cartridge relative to the surgical device.

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