Surgical cutting tool with Anti-skiving properties

Abstract

A surgical cutting tool with anti-skiving properties and systems for using the surgical cutting tool are provided. The cutting tool may have a cannula and a guide pin positioned in the cannula. A motor may be configured to rotate the cutting tool and the guide pin. One or more actuators may be configured to extend the guide pin and the cutting tool and to also extend the guide pin beyond a tip or an end of the cutting tool.

Description

SURGICAL CUTTING TOOL WITH ANTI-SKIVING PROPERTIESBACKGROUND

[0001] The present disclosure is generally directed to surgical tools, and relates more particularly to surgical cutting tools with anti-skiving properties.

[0002] Surgical robots may assist a surgeon or other medical provider in carrying out a surgical procedure, or may complete one or more surgical procedures autonomously. Providing controllable linked articulating members allows a surgical robot to reach areas of a patient anatomy during various medical procedures.BRIEF SUMMARY

[0003] Example aspects of the present disclosure include:

[0004] A cutting system according to at least one embodiment of the present disclosure comprises a cutting tool having a cannula; a guide pin positioned in the cannula; a motor configured to rotate the cutting tool and the guide pin; and one or more actuators configured to extend the guide pin and the cutting tool and to also extend the guide pin beyond a tip of the cutting tool.

[0005] Any of the aspects herein, further comprising: a processor; and a memory storing data for processing by the processor, the data, when processed, causing the processor to: position the cutting tool near a surface of an anatomical element; cause the motor to rotate the guide pin and the cutting tool; cause a first actuator of the one or more actuators to extend the guide pin beyond a tip of the cutting tool while the motor rotates the guide pin and the cutting tool to cause the guide pin to cut the anatomical element; and cause the cutting tool to linearly extend towards an end of the guide pin while the motor rotates the guide pin and the cutting tool to cut the anatomical element with the cutting tool.

[0006] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: cause the cutting tool and the guide pin to linearly extend together into the anatomical element while the motor rotates the guide pin and the cutting tool to cut the anatomical element with the cutting tool.

[0007] Any of the aspects herein, further comprising a robotic arm configured to support, orient, and operate the automating cutting system

[0008] Any of the aspects herein, wherein the robotic arm positions the cutting tool near the surface of the anatomical element.

[0009] Any of the aspects herein, wherein at least one of the robotic arm or a third actuator of the one or more actuators causes the cutting tool and the guide pin to linearly extend together into the anatomical element.

[0010] Any of the aspects herein, wherein a second actuator of the one or more actuators causes the cutting tool to linearly extend towards the end of the guide pin.

[0011] Any of the aspects herein, wherein the one or more actuators comprises a first actuator configured to extend the guide pin beyond the tip of the cutting tool, a second actuator configured to linearly extend the cutting tool to an end of the guide pin, and a third actuator configured to linearly move or extend the guide pin and the cutting tool.

[0012] Any of the aspects herein, wherein the guide pin comprises K-wire and the cutting tool comprises a surgical drill.

[0013] Any of the aspects herein, further comprising: a guide pin pusher configured to push the guide pin through the cannula, wherein the guide pin is operated by one actuator of the one or more actuators.

[0014] Any of the aspects herein, further comprising: a housing that houses the motor, the one or more actuators, and at least a portion of each of the cutting tool and the guide pin.

[0015] Any of the aspects herein, further comprising: one or more sensors configured to measure at least one force exerted on the anatomical element, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: pause the one or more actuators and the motor when the measured at least one force meets or exceeds a predetermined threshold.

[0016] Any of the aspects herein, wherein the guide pin pusher is manually actuated.

[0017] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: generate a notification when the measured at least one force meets or exceeds the predetermined threshold.

[0018] A system according to at least one embodiment of the present disclosure comprises a cutting tool having a cannula; a guide pin positioned in the cannula; a processor; and a memory storing data for processing by the processor, the data, when processed, causing the processor to: position the cutting tool near a surface of an anatomical element; cause the guide pin and the cuttingtool to rotate; cause the guide pin to extend beyond a tip of the cutting tool while the guide pin and the cutting tool rotate, thereby causing the guide pin to cut the anatomical element; and cause the cutting tool to linearly extend towards an end of the guide pin while the guide pin and the cutting tool rotate, thereby cutting the anatomical element with the cutting tool.

[0019] Any of the aspects herein, further comprising: one or more actuators configured to extend the guide pin; and a motor configured to rotate the guide pin and the cutting tool.

[0020] Any of the aspects herein, wherein the one or more actuators comprise a first actuator configured to extend the guide pin beyond the tip of the cutting tool and a second actuator configured to cause the cutting tool to linearly extend towards the end of the guide pin.

[0021] Any of the aspects herein, further comprising: one or more sensors configured to measure at least one force exerted on the anatomical element, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: pause the one or more actuators and the motor when the measured at least one force meets or exceeds a predetermined threshold.

[0022] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: generate a notification when the measured at least one force meets or exceeds the predetermined threshold.

[0023] A cutting system according to at least one embodiment of the present disclosure comprises a cutting tool having a cannula; a guide pin positioned in the cannula; a motor configured to rotate the cutting tool and the guide pin; one or more actuators configured to rotate and extend the guide pin and the cutting tool and to also extend the guide pin beyond a tip of the cutting tool; a processor; and a memory storing data for processing by the processor, the data, when processed, causing the processor to: position the cutting tool near a surface of an anatomical element; cause the motor to rotate the guide pin and the cutting tool; cause a first actuator of the one or more actuators to extend the guide pin beyond a tip of the cutting tool while the motor rotates the guide pin and the cutting tool to cause the guide pin to cut the anatomical element; and cause a second actuator of the one or more actuators to linearly extend the cutting tool towards an end of the guide pin while the motor rotates the guide pin and the cutting tool to cut the anatomical element with the cutting tool.

[0024] Any aspect in combination with any one or more other aspects.

[0025] Any one or more of the features disclosed herein.

[0026] Any one or more of the features as substantially disclosed herein.

[0027] Any one or more of the features as substantially disclosed herein in combination with any one or more other features as substantially disclosed herein.

[0028] Any one of the aspects / features / embodiments in combination with any one or more other aspects / features / embodiments .

[0029] Use of any one or more of the aspects or features as disclosed herein.

[0030] It is to be appreciated that any feature described herein can be claimed in combination with any other feature(s) as described herein, regardless of whether the features come from the same described embodiment.

[0031] The details of one or more aspects of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the techniques described in this disclosure will be apparent from the description and drawings, and from the claims.

[0032] The phrases “at least one”, “one or more”, and “and / or” are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions “at least one of A, B and C”, “at least one of A, B, or C”, “one or more of A, B, and C”, “one or more of A, B, or C” and “A, B, and / or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together. When each one of A, B, and C in the above expressions refers to an element, such as X, Y, and Z, or class of elements, such as XI -Xn, Yl-Ym, and Zl- Zo, the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., XI and X2) as well as a combination of elements selected from two or more classes (e.g., Y 1 and Zo).

[0033] The term “a” or “an” entity refers to one or more of that entity. As such, the terms “a” (or “an”), “one or more” and “at least one” can be used interchangeably herein. It is also to be noted that the terms “comprising”, “including”, and “having” can be used interchangeably.

[0034] The preceding is a simplified summary of the disclosure to provide an understanding of some aspects of the disclosure. This summary is neither an extensive nor exhaustive overview of the disclosure and its various aspects, embodiments, and configurations. It is intended neither to identify key or critical elements of the disclosure nor to delineate the scope of the disclosure but to present selected concepts of the disclosure in a simplified form as an introduction to the more detailed description presented below. As will be appreciated, other aspects, embodiments, andconfigurations of the disclosure are possible utilizing, alone or in combination, one or more of the features set forth above or described in detail below.

[0035] Numerous additional features and advantages of the present disclosure will become apparent to those skilled in the art upon consideration of the embodiment descriptions provided hereinbelow.BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0036] The accompanying drawings are incorporated into and form a part of the specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the disclosure. The drawings simply illustrate preferred and alternative examples of how the disclosure can be made and used and are not to be construed as limiting the disclosure to only the illustrated and described examples. Further features and advantages will become apparent from the following, more detailed, description of the various aspects, embodiments, and configurations of the disclosure, as illustrated by the drawings referenced below.

[0037] Fig. 1A is a front side, tilted view of a cutting system according to at least one embodiment of the present disclosure;

[0038] Fig. IB is a rear side, tilted view of the cutting system shown in Fig. 1A according to at least one embodiment of the present disclosure;

[0039] Fig. 1C is a side, tilted view of the cutting system shown in Fig. 1 A with a housing shown transparently according to at least one embodiment of the present disclosure;

[0040] Fig. ID is a side, tilted view of the cutting system shown in Fig. 1A with the housing removed according to at least one embodiment of the present disclosure;

[0041] Fig. IE is a side, tilted view of the cutting system shown in Fig. 1A with an actuator for a guide pin according to at least one embodiment of the present disclosure;

[0042] Fig. 2A is a side, cross-sectional of a cutting housing according to at least one embodiment of the present disclosure;

[0043] Fig. 2B is a side, cross-sectional of the cutting housing shown in Fig. 2A according to at least one embodiment of the present disclosure;

[0044] Fig. 2C is a side, tilted view of a guide pin pusher shown in Fig. 2A according to at least one embodiment of the present disclosure;

[0045] Fig. 3A is a side view of a cutting system in a first configuration according to at least one embodiment of the present disclosure;

[0046] Fig. 3B is a side view of the cutting system shown in Fig. 3A in a second configuration according to at least one embodiment of the present disclosure;

[0047] Fig. 3C is a side view of the cutting system shown in Fig. 3A in a third configuration according to at least one embodiment of the present disclosure;

[0048] Fig. 3D is a side view of the cutting system shown in Fig. 3A in a fourth configuration according to at least one embodiment of the present disclosure;

[0049] Fig. 4 is a block diagram of a system according to at least one embodiment of the present disclosure; and

[0050] Fig. 5 is a flowchart according to at least one embodiment of the present disclosure.DETAILED DESCRIPTION

[0051] It should be understood that various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example or embodiment, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, and / or may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the disclosed techniques according to different embodiments of the present disclosure). In addition, while certain aspects of this disclosure are described as being performed by a single module or unit for purposes of clarity, it should be understood that the techniques of this disclosure may be performed by a combination of units or modules associated with, for example, a computing device and / or a medical device.

[0052] In one or more examples, the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Alternatively or additionally, functions may be implemented using machine learning models, neural networks, artificial neural networks, or combinations thereof (alone or in combination with instructions). Computer-readable media may include non-transitory computer-readable media, which corresponds to a tangible medium such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0053] Instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple Al l, A12, A12X, A12Z, or A13 Bionic processors; or any other general purpose microprocessors), graphics processing units (e.g., Nvidia GeForce RTX 2000-series processors, Nvidia GeForce RTX 3000-series processors, AMD Radeon RX 5000-series processors, AMD Radeon RX 6000-series processors, or any other graphics processing units), application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0054] Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Further, the present disclosure may use examples to illustrate one or more aspects thereof. Unless explicitly stated otherwise, the use or listing of one or more examples (which may be denoted by “for example,” “by way of example,” “e.g.,” “such as,” or similar language) is not intended to and does not limit the scope of the present disclosure.

[0055] The terms proximal and distal are used in this disclosure with their conventional medical meanings, proximal being closer to the operator or user of the system, and further from the region of surgical interest in or on the patient, and distal being closer to the region of surgical interest in or on the patient, and further from the operator or user of the system.

[0056] During surgical procedures such as, for example, spinal surgeries, pilot holes that can be about 3mm are drilled for insertion of screw implants. Conventional surgical drills use low speeds of up to about lOOOrpm may experience skiving during the drilling process. Skiving causesdeviation of the pilot hole location and / or may cause damage to the patient. Conventional surgical procedures in which one or more surgical steps are conducted manually may require multiple tools to reduce or eliminate a risk of skiving. Avoiding skiving may be more challenging in minimally invasive surgical procedures.

[0057] Surgical procedures may be executed autonomously or semi-autonomously with surgical robots. In such usage, robotic surgeries require automated tools for drilling pilot holes without the risk of skiving and without the intervention of human operator. It is also desirable to do so in a simple way , with minimum number of tools to make the procedure effective and minimally time consuming.

[0058] According to at least one embodiment of the present disclosure, an automated solution for eliminating skiving during drilling in surgical procedures such as, for example, minimally invasive surgery, using one tool is provided. The one tool may include, for example, a cutting tool (e.g., a surgical drill) having a cannula and a guide pin disposed in the cannula. The guide wire can be extended past a tip or end of the cutting tool so as to drill or cut the pilot hole; then the cutting tool is extended along the guide pin to drill or cut the remaining portion of a desired hole. The tool may eliminate some of the conventional tools and make robotic operation more efficient, safe and quick.

[0059] Embodiments of the present disclosure provide technical solutions to one or more of the problems of (1) automatically drilling one or more holes with reduced or eliminated skiving, (2) automatically drilling a pilot hole and a desired or target hole using one tool, and (3) increasing patient and surgical team safety.

[0060] Turning to Figs. 1A-1D, a cutting system 100 according to at least one embodiment of the present disclosure is shown in a first position, a second position, a third position with a housing 102 shown transparently for clarity, and a fourth positioned with the housing 102 removed, respectively. The cutting system 100 beneficially includes a combination of components and features to prevent skiving during cutting (e.g., cutting, drilling, etc.) of an anatomical element such as, for example, bone. The cutting system 100 includes a cutting tool 104 having a cannula 106 and a guide pin 108 positioned in the cannula 106. The cutting system 100 also includes a motor 110 configured to rotate the cutting tool 104 and the guide pin 108 and one or more actuators 112 configured to extend the guide pin 108, extend the cutting tool 104, and / or extend the guide pin 108 and the cutting tool 104 together. The motor 110, the one or more of actuators 112, and atleast a portion of the cutting tool 104 and / or the guide pin 108 may be positioned in a housing 102. The remaining portion of the cutting tool 104 and the guide pin 108 may be housed at least partially in a cutting tool housing 102.

[0061] The motor 110 is configured to rotate the cutting tool 104 and / or the guide pin 108 and may receive instructions from, for example, a computing device such as a computing device 402 (shown in Fig. 4), and / or the robot 414. The motor 110 may be an electric motor, a pneumatic motor, a hydraulic motor, a gear motor, an AC brushless motor, a DC brushed motor, a DC brushless motor, a servo motor, or any other type of motor. In some embodiments the motor 110 may be positioned in the robot 414 or a robotic arm 416 of the robot 414.

[0062] The one or more actuators 112 are configured to linearly move or extend the guide pin 108 and / or the cutting tool 104. The one or more actuators 112 may receive instructions from, for example, the computing device 402 and / or the robot 414. The one or more actuators 112 may be, for example, an electric, a hydraulic, and / or a pneumatic actuator. In some embodiments the one or more actuators 112 may be positioned in the robot 414 or a robotic arm 416 of the robot 414.

[0063] The cutting tool housing 102 may extend from a first end 114 to a second end 116 opposite the first end 114. The cutting tool housing 102 may comprise a shaft 118 having a bore 120. The cutting tool 104 may be positioned in and movable within the shaft 118. The shaft 118 may also include one or more slots 122 for accommodating a guide pin pusher 124 that is configured to push and extend the guide pin 108 past an end 126 or tip of the cutting tool 104. It will be appreciated that in some embodiments, the guide pin pusher 124 may be full enclosed in the cutting tool housing 102 and the cutting tool housing 102 may not include the one or more slots.

[0064] Turning to Figs. 1C-1E, the motor 110 and / or the one or more actuators 112 may be positioned in the housing 102. It will be appreciated that in some embodiments, the motor 110 and / or the one or more actuators may be positioned outside of the housing 102. The motor 110 may be configured to rotate the guide pin 108 and / or the cutting tool 104. In other embodiments the motor 110 may include more than one motor 110. For example, one motor may rotate the cutting tool 104 and another motor may rotate the guide pin 108. The one or more actuators 112 may include one actuator, two actuators, or more than two actuators. In some embodiments, the one or more actuators 112 may include a first actuator 112A (shown in Fig. IE) configured to extend the guide pin 108 beyond the end 126 of the cutting tool 104, a second actuator configured to linearlymove or extend the guide pin 108 and the cutting tool 104, and / or a third actuator configured to linearly move the guide pin 108 and the cutting tool 104.

[0065] As shown in Fig. IE, the guide pin 108 may include one or more knobs 136 (also shown in Figs. 1A-2C) that can be pushed by the first actuator 112A via a guide pin connector 111. In some embodiments, the guide pin connector 111 is integral with the one or more knobs 136 such that the guide pin connector 111 and the guide pin 108 are one piece. The guide pin connector 111 may include a rod 113 coupled to the first actuator 112A and a flange 115 extending from the rod 113 to the one or more knobs 136 (or any part of the guide pin 108) so as to connect the guide pin connector 111 to the guide pin 108. It will be appreciated that in other embodiments, the guide pin 108 can be manually actuated as will be described below in Figs. 2A-2C.

[0066] The cutting system 100 may be releasably coupled to a robot such as a robot 414 (shown in Fig. 4) via a connector 128 (shown in Fig. IB) of the housing 102. The cutting system 100 may be autonomously supported, oriented, and / or operated by, for example, the robot 414. In other embodiments, the cutting system 100 may be semi-autonomously operated by the robot 414 and / or a user such as a surgeon or other medical provider. In still other embodiments, the cutting system 100 may be manually supported, oriented, and / or operated by, for example, the user.

[0067] Turning to Figs. 2A-2C, a detailed cross-sectional side view of the first end 114 of the cutting housing 140, another detailed cross-sectional side view of the first end 114 of the cutting housing 140, and a detailed view of the guide pin pusher 124 are respectively shown. As previously described, the guide pin 108 is positioned in the cannula 106 of the cutting tool 104 and can be extended past the end 126 of the cutting tool 104 (as shown in Fig. 2B). By extending past the end 126 of the cutting tool 104, the guide pin 108 can be used to cut or drill a pilot hole while avoiding skiving, as will be discussed in more detail in Figs. 3A-3D and 5. The guide pin 108 can comprise K-wire, a metal pin, or any other solid pin capable of drilling into an anatomical element such as, for example, bone. The cutting tool 104 can be, for example, a surgical drill, though in other embodiments the cutting tool 104 can be any surgical instrument capable of cutting and / or drilling an anatomical element such as, for example bone.

[0068] The guide pin 108 and the cutting tool 104 may be connected to a rotary shaft 130 that is rotated and driven by the motor 110. The rotary shaft 130 may also include a cavity 132 in which an end 134 of the guide pin 108 and the guide pin pusher 124 are disposed in. As described above, the guide pin 108 can be extended or pushed past the end 126 of the cutting tool 104. In theillustrated embodiment, the guide pin 108 is pushed by the guide pin pusher 124 within the cavity 132, which pushes an end of the guide pin 108 past the end 126 of the cutting tool 104. The guide pin pusher 124 may include one or more knobs 136 (also shown in Fig. 1A-2C) that can be manually pushed by, for example, a user such as a surgeon or medical provider. It will be appreciated that in other embodiments, the guide pin pusher 124 may not include the one or more knobs 136 and may be actuated automatically by, for example, an actuator such as the first actuator 112A as described above. The guide pin 108 may be extended or pushed a distance 142. The distance 142 may be about 10mm, though it will be appreciated that the distance 142 can be less or greater than 10mm.

[0069] Turning to Figs. 3A-3D, the cutting tool 104 and the guide pin 108 are shown in a first configuration, a second configuration, a third configuration, and a fourth configuration, respectively. As shown in Fig. 3A, the cutting system 100 (e.g., the cutting tool 104 and the guide pin 108) are positioned near a surface 148 of an anatomical element 146 such as, for example, bone. The cutting tool 104 may be positioned about 2-3mm above the surface 148, though it will be appreciated that in other instances the cutting tool 104 can be positioned at any distance above the surface. As shown in Fig. 3B, the guide pin 108 may be extended past the end 126 of the cutting tool 104 by, for example, the first actuator 112A. In some instances, the guide pin 108 may be pushed into or hammered into the anatomical element 146. In other instances, the guide pin 108 may be rotated (whether with or without rotation of the cutting tool 104) by the motor 110 while being extended by the first actuator 112A such that the guide pin 108 cuts or drills into the anatomical element 146. It will be appreciated that in other instances the guide pin 108 can be partially hammered into the anatomical element 146 then rotated. The guide pin 108 can be extended about the distance 142 that the guide pin pusher 124 extends the guide pin 108. The guide pin 108 is beneficially less prone to skiving because of its smaller diameter (relative to the cutting tool 104) and pointed tip. Thus, the guide pin 108 can set a trajectory in the anatomical element 146 for the cutting tool 104 by forming a pilot hole.

[0070] Turning to Fig. 3C, the cutting tool 104 is rotated (whether with or without rotation of the guide pin 108) and extended towards an end 144 of the guide pin 108 such that the cutting tool 104 drills or cuts the anatomical element 146. During such cutting or drilling, the cutting tool 104 is guided into the anatomical element 146 by the guide pin 108 and thus, eliminating or preventing skiving of the cutting tool 104 by staying fixed to the anatomical element due to the guide pin 108.In other words, the cutting tool 104 is prevented from skiving or sliding along the surface 148 of the anatomical elements 146 as the cutting tool 104 is guided along the guide pin 108 and into the pilot hole formed by the guide pin 108. Once the cutting tool 104 has reached the end 144 of the guide pin 108, the cutting tool 104 and the guide pin 108 are rotated and advanced together to cut or drill the anatomical element to a desired depth as shown in Fig. 3D. The desired depth may be, for example, 30mm; however, it will be appreciated that the desired depth may be any depth such as less than, equal to, or greater than 30mm.

[0071] Turning to Fig. 4, a block diagram of a system 400 according to at least one embodiment of the present disclosure is shown. The system 400 may be used to autonomously or semi- autonomously cut or drill an anatomical element using a cutting system such as the cutting system 100 and / or carry out one or more other aspects of one or more of the methods disclosed herein. The system 400 comprises a computing device 402, one or more cutting systems 100, a robot 414, a navigation system 418, a database 430, and / or a cloud or other network 434. Systems according to other embodiments of the present disclosure may comprise more or fewer components than the system 400. For example, the system 400 may not include the robot 414, the navigation system 418, one or more components of the computing device 402, the database 430, and / or the cloud 434.

[0072] The computing device 402 comprises a processor 404, a memory 406, a communication interface 408, and a user interface 410. Computing devices according to other embodiments of the present disclosure may comprise more or fewer components than the computing device 402.

[0073] The processor 404 of the computing device 402 may be any processor described herein or any similar processor. The processor 404 may be configured to execute instructions stored in the memory 406, which instructions may cause the processor 404 to carry out one or more computing steps utilizing or based on data received from the cutting system 100, the robot 414, the navigation system 418, the database 430, and / or the cloud 434.

[0074] The memory 406 may be or comprise RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible, non-transitory memory for storing computer- readable data and / or instructions. The memory 406 may store information or data useful for completing, for example, any step of the method 500 described herein, or of any other methods. The memory 406 may store, for example, instructions and / or machine learning models that support one or more functions of the robot 414. For instance, the memory 406 may store content (e.g.,instructions and / or machine learning models) that, when executed by the processor 404, enable signal processing 420 and / or notification generation 422.

[0075] The sensor processing 420 enables the processor 404 to process sensor data received from, for example, a sensor such as the sensor 426. The sensor data may be processed to obtain, for example, a force exerted onto an anatomical element by the cutting system 100 and more specifically, by the cutting tool 104 and / or the guide pin 108. Such information may be used to determine if the force is greater than a predetermined threshold; where force over the predetermined threshold may be damaging to the anatomical element or may indicate an issue with the cutting system 100. The processed sensor data may be used to, for example, determine when to stop the cutting tool 104 and / or the guide pin 108 from further operation during to prevent damage to the anatomical element and / or the cutting system 100.

[0076] The notification generation 422 enables the processor 404 to generate a notification when the processed sensor data processed by, for example, the sensor processing 420 describe above, meets or exceeds the predetermined threshold. It will be appreciated that in some embodiments, the notification may be generated when the processed sensor data is below the predetermined threshold. In still other embodiments, the notification may be generated when a difference between the processed sensor data and an expected processed sensor data meets or exceeds the predetermined threshold. The notification may be an audible and / or a visual notification (which may be displayed on, for example, the user interface 410).

[0077] Such content, if provided as in instruction, may, in some embodiments, be organized into one or more applications, modules, packages, layers, or engines. Alternatively or additionally, the memory 406 may store other types of content or data (e.g., machine learning models, artificial neural networks, deep neural networks, etc.) that can be processed by the processor 404 to carry out the various method and features described herein. Thus, although various contents of memory 406 may be described as instructions, it should be appreciated that functionality described herein can be achieved through use of instructions, algorithms, and / or machine learning models. The data, algorithms, and / or instructions may cause the processor 404 to manipulate data stored in the memory 406 and / or received from or via the cutting system 100, the robot 414, the database 430, and / or the cloud 434.

[0078] The memory 106 may also store a surgical plan 424. The surgical plan 424 may comprise, for example, one or more steps for performing a surgical procedure using the cutting system 100and / or one or more predetermined thresholds for monitoring one or more parameters during the surgical procedure. In some embodiments, the surgical procedure may be a spinal procedure (e.g., a spinal alignment, installing implants, osteotomy, fusion, and / or any other spinal procedure) to correct a spinal deformity. For example, the surgical plan 424 may comprise one or more surgical steps for preparing one or more holes for placing implants. The surgical plan 424 may also be stored in the database 430.

[0079] The computing device 402 may also comprise a communication interface 408. The communication interface 408 may be used for receiving image data or other information from an external source (such as the cutting system 100, the robot 414, the navigation system 418, the database 430, the cloud 434, and / or any other system or component not part of the system 400), and / or for transmitting instructions, images, or other information to an external system or device (e.g., another computing device 402, the cutting system 100, the robot 414, the navigation system 418, the database 430, the cloud 434, and / or any other system or component not part of the system 400). The communication interface 408 may comprise one or more wired interfaces (e.g., a USB port, an Ethernet port, a Firewire port) and / or one or more wireless transceivers or interfaces (configured, for example, to transmit and / or receive information via one or more wireless communication protocols such as 802.11a / b / g / n, Bluetooth, NFC, ZigBee, and so forth). In some embodiments, the communication interface 408 may be useful for enabling the device 402 to communicate with one or more other processors 404 or computing devices 402, whether to reduce the time needed to accomplish a computing-intensive task or for any other reason.

[0080] The computing device 402 may also comprise one or more user interfaces 410. The user interface 410 may be or comprise a keyboard, mouse, trackball, monitor, television, screen, touchscreen, and / or any other device for receiving information from a user and / or for providing information to a user. The user interface 410 may be used, for example, to receive a user selection or other user input regarding any step of any method described herein. Notwithstanding the foregoing, any required input for any step of any method described herein may be generated automatically by the system 400 (e.g., by the processor 404 or another component of the system 400) or received by the system 400 from a source external to the system 400. In some embodiments, the user interface 410 may be useful to allow a surgeon or other user to modify instructions to be executed by the processor 404 according to one or more embodiments of the present disclosure,and / or to modify or adjust a setting of other information displayed on the user interface 410 or corresponding thereto.

[0081] Although the user interface 410 is shown as part of the computing device 402, in some embodiments, the computing device 402 may utilize a user interface 410 that is housed separately from one or more remaining components of the computing device 402. In some embodiments, the user interface 410 may be located proximate one or more other components of the computing device 402, while in other embodiments, the user interface 410 may be located remotely from one or more other components of the computer device 402.

[0082] The cutting system 100 as described above is configured to cut or drill an anatomical element such as the anatomical element 146. The cutting system 100 includes the cutting tool 104 and the guide pin 108 that is capable of extending past the end 126 of the cutting tool 104. As previously described, by cutting an initial hole with the guide pin 108 and guiding the cutting tool 104 along the guide pin 108, the potential of skiving is reduced or eliminated.

[0083] The cutting system 100 may also include one or more sensors 426. The sensor 426 may be a force sensor, configured to detect a force applied on the cutting tool 104 and / or a robotic arm of the robot 414 such as a robotic arm 416. The sensor 426 may include one or more or any combination of components that are electrical, mechanical, electro-mechanical, magnetic, electromagnetic, or the like. In some embodiments, the sensor 426 may include a memory for storing sensor data. In still other examples, the sensor 426 may output signals (e.g., sensor data) to one or more sources (e.g., the cutting tool 100, the computing device 402, the navigation system 418, and / or the robot 414). The one or more sensors 426 may be positioned, for example, on the cutting tool 104, the robotic arm 416, or elsewhere. Data from the sensor(s) 426 may be provided to a processor of the robot 414, to the processor 404 of the computing device 402, and / or to the navigation system 418. The data may be processed by the sensor processing 420 to determine if the processed sensor data meets or exceeds the predetermined threshold, which may indicate an excessive amount of force being exerted onto the anatomical element or received by the cutting system 100.

[0084] The robot 414 may be any surgical robot or surgical robotic system. The robot 414 may be or comprise, for example, the Mazor X™ Stealth Edition robotic guidance system. The robot 414 may be configured to position the cutting system 100 at one or more precise position(s) and orientation(s), and / or to return the cutting system 100 to the same position(s) and orientation(s) ata later point in time. The robot 414 may additionally or alternatively be configured to manipulate a surgical tool (whether based on guidance from the navigation system 418 or not) to accomplish or to assist with a surgical task. In some embodiments, the robot 414 may be configured to hold and / or manipulate an anatomical element during or in connection with a surgical procedure. The robot 414 may comprise one or more robotic arms 416. In some embodiments, the robotic arm 416 may comprise a first robotic arm and a second robotic arm, though the robot 414 may comprise more than two robotic arms. In some embodiments, one or more of the robotic arms 416 may be used to hold and / or maneuver the cutting system 100. In embodiments where the cutting system lOOcomprises two or more physically separate components (e.g., a transmitter and receiver), one robotic arm 416 may hold one such component, and another robotic arm 416 may hold another such component. Each robotic arm 416 may be positionable independently of the other robotic arm. The robotic arms 416 may be controlled in a single, shared coordinate space, or in separate coordinate spaces.

[0085] The robot 414, together with the robotic arm 416, may have, for example, one, two, three, four, five, six, seven, or more degrees of freedom. Further, the robotic arm 416 may be positioned or positionable in any pose, plane, and / or focal point. The pose includes a position and an orientation. As a result, the cutting system 100, surgical tool, or other object held by the robot 414 (or, more specifically, by the robotic arm 416) may be precisely positionable in one or more needed and specific positions and orientations.

[0086] The robotic arm(s) 416 may comprise one or more sensors that enable the processor 404 (or a processor of the robot 414) to determine a precise pose in space of the robotic arm (as well as any object or element held by or secured to the robotic arm).

[0087] In some embodiments, reference markers (e.g., navigation markers) may be placed on the robot 414 (including, e.g., on the robotic arm 416), the cutting system 100, or any other object in the surgical space. The reference markers may be tracked by the navigation system 418, and the results of the tracking may be used by the robot 414 and / or by an operator of the system 400 or any component thereof. In some embodiments, the navigation system 418 can be used to track other components of the system and the system can operate without the use of the robot 414 (e.g., with the surgeon manually manipulating the cutting system lOOand / or one or more surgical tools, based on information and / or instructions generated by the navigation system 418, for example).

[0088] The navigation system 418 may provide navigation for a surgeon and / or a surgical robot during an operation. The navigation system 418 may be any now-known or future-developed navigation system, including, for example, the Medtronic StealthStation™ S8 surgical navigation system or any successor thereof. The navigation system 418 may include one or more cameras or other sensor(s) for tracking one or more reference markers, navigated trackers, or other objects within the operating room or other room in which some or all of the system 400 is located. The one or more cameras may be optical cameras, infrared cameras, or other cameras. In some embodiments, the navigation system 418 may comprise one or more electromagnetic sensors. In various embodiments, the navigation system 418 may be used to track a position and orientation (e.g., a pose) of the cutting system 100, the robot 414 and / or robotic arm 416, and / or one or more surgical tools (or, more particularly, to track a pose of a navigated tracker attached, directly or indirectly, in fixed relation to the one or more of the foregoing). The navigation system 418 may include a display for displaying one or more images from an external source (e.g., the computing device 402, cutting system 100, or other source) or for displaying an image and / or video stream from the one or more cameras or other sensors of the navigation system 418. In some embodiments, the system 400 can operate without the use of the navigation system 418. The navigation system 418 may be configured to provide guidance to a surgeon or other user of the system 400 or a component thereof, to the robot 414, or to any other element of the system 400 regarding, for example, a pose of one or more anatomical elements, whether or not a tool is in the proper trajectory, and / or how to move a tool into the proper trajectory to carry out a surgical task according to a preoperative or other surgical plan.

[0089] The database 430 may store the surgical plan 424 (including, for example, pose information about a target and / or image information about a patient’ s anatomy at and / or proximate the surgical site, for use by the robot 414, the navigation system 418, and / or a user of the computing device 402 or of the system 400). The database 430 may be configured to provide any such information to the computing device 402 or to any other device of the system 400 or external to the system 400, whether directly or via the cloud 434. In some embodiments, the database 430 may be or comprise part of a hospital image storage system, such as a picture archiving and communication system (PACS), a health information system (HIS), and / or another system for collecting, storing, managing, and / or transmitting electronic medical records including image data.

[0090] The cloud 434 may be or represent the Internet or any other wide area network. The computing device 402 may be connected to the cloud 434 via the communication interface 408, using a wired connection, a wireless connection, or both. In some embodiments, the computing device 402 may communicate with the database 430 and / or an external device (e.g., a computing device) via the cloud 434.

[0091] The system 400 or similar systems may be used, for example, to carry out one or more aspects of any of the method 500 described herein. The system 400 or similar systems may also be used with the cutting system 100. The system 400 or similar systems may also be used for other purposes.

[0092] Fig. 5 depicts a method 500 that may be used, for example, for cutting an anatomical element.

[0093] The method 500 (and / or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor. The at least one processor may be the same as or similar to the processor(s) 404 of the computing device 402 described above. The at least one processor may be part of a robot (such as a robot 414) or part of a navigation system (such as a navigation system 418). A processor other than any processor described herein may also be used to execute the method 500. The at least one processor may perform the method 500 by executing elements stored in a memory such as the memory 406. The elements stored in memory and executed by the processor may cause the processor to execute one or more steps of a function as shown in method 500. One or more portions of a method 500 may be performed by the processor executing any of the contents of memory, such as sensor processing 420 and / or notification generation 422.

[0094] The method 500 comprises positioning a cutting tool (step 504). The cutting tool may be the same as or similar to the cutting tool 104 of a cutting system such as the cutting system 100. The cutting system may also include a guide pin such as the guide pin 108 positioned in a cannula such as the cannula 106 of the cutting tool. The cutting system also includes a motor such as the motor 110 configured to rotate the cutting tool and / or the guide pin and one or more actuators such as the one or more actuators 112 configured to linearly extend the cutting tool and / or the guide pin.

[0095] The cutting tool can be autonomously or semi-autonomously positioned by a robotic arm such as the robotic arm 416 of a robot such as the robot 414. The cutting tool can also be operated autonomously or semi-autonomously by the robot. In other instances, the cutting tool can be manually operated by a user such as, for example, a surgeon or other medical provider. The cuttingtool may be positioned near a surface such as the surface 148 of an anatomical element such as the anatomical element 146 (which may be, for example, bone).

[0096] The method 500 also comprises rotating the guide pin and the cutting tool (step 508). The guide pin and the cutting tool may be rotated by the motor via a rotary shaft such as the rotary shaft 130. In some embodiments, one or more motors may rotate the guide pin and the cutting tool individually. The motor may be operated autonomously in which the motor is operated according to a surgical plan such as the surgical plan 424. In other embodiments, the motor may be operated based on user input received via, for example, a user interface such as the user interface 410.

[0097] The method 500 also comprises extending the guide pin (step 512). The guide pin may be extended past the end or a tip of the cutting tool by a first actuator such as the first actuator 112A of the one or more actuators. The guide pin may be extended or pushed by a guide pin pusher such as the guide pin pusher 124. The guide pin pusher may be disposed in a cavity such as the cavity 132 of the rotary shaft. The guide pin pusher may include one or more knobs such as the one or more knobs 136 that can be manually pushed by, for example, a user such as a surgeon or medical provider. It will be appreciated that in other embodiments, the guide pin pusher may not include the one or more knobs and may be actuated automatically by, for example, an actuator such as the first actuator. The guide pin may be extended or pushed a distance. The distance may be about 10mm, though it will be appreciated that the distance can be less or greater than 10mm.

[0098] In some instances, the guide pin may be extended and pushed into or hammered into the anatomical element. In other instances, the guide pin may be rotated (whether with or without rotation of the cutting tool) by the motor while being extended by the first actuator such that the guide pin cuts or drills into the anatomical element. It will be appreciated that in other instances the guide pin can be partially hammered into the anatomical element then rotated. The guide pin can be extended about the distance that the guide wire pusher extends the guide pin. The guide pin is beneficially less prone to skiving because of its smaller diameter (relative to the cutting tool) and pointed tip. Thus, the guide pin can set a trajectory in the anatomical element for the cutting tool by forming a pilot hole.

[0099] The method 500 also comprises extending the cutting tool towards an end of the guide pin (step 516). As previously described, the cutting tool is rotated and extended towards an end of the guide pin such that the cutting tool drills or cuts the anatomical element. During such cutting or drilling, the cutting tool is guided into the anatomical element by the guide pin and thus,eliminating or preventing skiving of the cutting tool by staying fixed to the anatomical element due to the guide pin. In other words, the cutting tool is prevented from skiving or sliding along the surface of the anatomical elements as the cutting tool is guided along the guide pin and into the pilot hole formed by the guide pin. The cutting tool may be advanced by, for example, a second actuator such as the second actuator 112B.

[0100] The method 500 also comprises extending the cutting tool and the guide pin (step 520). Once the cutting tool has reached the end of the guide pin, the cutting tool and the guide pin are rotated and advanced together to cut or drill the anatomical element to a desired depth. The desired depth may be, for example, 30mm; however, it will be appreciated that the desired depth may be any depth such as less than, equal to, or greater than 30mm. The cutting tool and the guide pin may be moved by a third actuator, or, in other instances, may be moved by the robotic arm.

[0101] The method 500 also comprises pausing rotation and / or extension of the cutting tool and the guide pin when a measured value meets or exceeds a predetermined threshold (step 524). The measured value may be sensed by a sensor such as the sensor 426. The sensor may continuously sense or measure the value during operation of the cutting system, may sense or measure the value based on user input, or may sense or measure the value intermittently (e.g., at time intervals). The sensor may be a force or torque sensor, configured to detect a force applied on the cutting tool. The sensor may include one or more or any combination of components that are electrical, mechanical, electro-mechanical, magnetic, electromagnetic, or the like. In some embodiments, the sensor may include a memory for storing sensor data. In still other examples, the sensor may output signals (e.g., sensor data) to one or more sources (e.g., the cutting tool, a computing device such as the computing device 402, and / or a navigation system such as the navigation system 418).

[0102] The sensor data may be processed by a processor such as the processor 104 using sensor processing such as the sensor processing 420. The sensor processing enables the processor to process the sensor data to obtain, for example, a force exerted onto an anatomical element by the cutting system and more specifically, by the cutting tool and / or the guide pin. Such information may be used to determine if the force is greater than a predetermined threshold; where force over the predetermined threshold may be damaging to the anatomical element or may indicate an issue with the cutting system. When the processed sensor data meets or exceeds the predetermined threshold, the processor (or a processor of the robot, the navigation device, or any other processor) may generate instructions to cause the motor and / or the actuators to stop rotation of and / orextension of the cutting tool and / or the guide pin to prevent damage to the anatomical element and / or the cutting system.

[0103] The method 500 also comprises generating a notification when the measured value meets or exceeds the predetermined threshold (step 528). The step 528 may the same as or similar to the step 524 with respect to measuring and processing sensor data received from the sensor.

[0104] The notification may be a visual notification, an audible notification, or any type of notification communicated to a user. The notification may be communicated to the user via the user interface. In some embodiments, the notification may be automatically generated by the processor. In other embodiments, the notification may be automatically generated by any component of a system such as the system 400. The predetermined threshold may be determined automatically using artificial intelligence and training data (e.g., historical cases) in some embodiments. In other embodiments, the predetermined threshold may be or comprise, or be based on, surgeon input received via the user interface. In further embodiments, the predetermined threshold may be determined automatically using artificial intelligence, and may thereafter be reviewed and approved (or modified) by a surgeon or other user. In examples where the predetermined threshold comprises a plurality of predetermined thresholds, a notification may be generated for each expected value that meets or exceeds the corresponding predetermined threshold, may wish to avoid or otherwise mitigate.

[0105] The step 528 may occur simultaneously with the step 524. In some embodiments, the method 500 may not include the steps 524 and / or 528. For example, in some embodiments only the step 524 may occur when the measured value meets or exceeds the predetermined threshold. In other embodiments, only the step 528 may occur when the measured value meets or exceeds the predetermined threshold. In still other embodiments, the method 500 may not include the steps 524 and 528.

[0106] The present disclosure encompasses embodiments of the method 500 that comprise more or fewer steps than those described above, and / or one or more steps that are different than the steps described above.

[0107] As noted above, the present disclosure encompasses methods with fewer than all of the steps identified in Fig. 5 (and the corresponding description of the method 500), as well as methods that include additional steps beyond those identified in Fig. 5 (and the corresponding description of the method 500). The present disclosure also encompasses methods that comprise one or moresteps from one method described herein, and one or more steps from another method described herein. Any correlation described herein may be or comprise a registration or any other correlation.

[0108] The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the disclosure are grouped together in one or more aspects, embodiments, and / or configurations for the purpose of streamlining the disclosure. The features of the aspects, embodiments, and / or configurations of the disclosure may be combined in alternate aspects, embodiments, and / or configurations other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claims require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed aspect, embodiment, and / or configuration. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate preferred embodiment of the disclosure.

[0109] Moreover, though the foregoing has included description of one or more aspects, embodiments, and / or configurations and certain variations and modifications, other variations, combinations, and modifications are within the scope of the disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative aspects, embodiments, and / or configurations to the extent permitted, including alternate, interchangeable and / or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and / or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.

[0110] A set of examples are provided below:

[0111] Example 1 : A cutting system (e.g., 100) comprising: a cutting tool (e.g., 104) having a cannula (e.g., 106); a guide pin (e.g., 108) positioned in the cannula; a motor (e.g., 110) configured to rotate the cutting tool and the guide pin; and one or more actuators (e.g., 112) configured to extend the guide pin and the cutting tool and to also extend the guide pin beyond a tip of the cutting tool.

[0112] Example 2 : The system according to Example 1, further comprising: a processor (e.g., 404); and a memory (e.g., 406) storing data for processing by the processor, the data, when processed, causing the processor to: position the cutting tool near a surface (e.g., 148) of ananatomical element (e.g., 146); cause the motor to rotate the guide pin and the cutting tool; cause a first actuator (e.g., 112A) of the one or more actuators to extend the guide pin beyond a tip (e.g., 126) of the cutting tool while the motor rotates the guide pin and the cutting tool to cause the guide pin to cut the anatomical element; and cause the cutting tool to linearly extend towards an end (e.g., 144) of the guide pin while the motor rotates the guide pin and the cutting tool to cut the anatomical element with the cutting tool.

[0113] Example 3: The system according to Examples 1 or 2, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: cause the cutting tool and the guide pin to linearly extend together into the anatomical element while the motor rotates the guide pin and the cutting tool to cut the anatomical element with the cutting tool.

[0114] Example 4 : The system according to any one of Examples 1-3, further comprising a robotic arm (e.g., 416) configured to support, orient, and operate the automating cutting system.

[0115] Example 5: The system according to any one of Examples 1-4, wherein the robotic arm positions the cutting tool near the surface of the anatomical element.

[0116] Example 6 : The system according to any one of Examples 1-5, wherein at least one of the robotic arm or a second actuator (e.g., 112B) of the one or more actuators causes the cutting tool and the guide pin to linearly extend together into the anatomical element.

[0117] Example 7 : The system according to any one of Examples 1-6, wherein a second actuator (e.g., 112B) of the one or more actuators causes the cutting tool to linearly extend towards the end of the guide pin.

[0118] Example 8 : The system according to any one of Examples 1-7, wherein the one or more actuators comprises a first actuator (e.g., 112A) configured to extend the guide pin beyond the tip of the cutting tool, a second actuator (e.g., 112B) configured to linearly extend the cutting tool to an end of the guide pin, and a third actuator configured to linearly move or extend the guide pin and the cutting tool.

[0119] Example 9: The system according to any one of Examples 1-8, wherein the guide pin comprises K-wire and the cutting tool comprises a surgical drill.

[0120] Example 10: The system according to any one of Examples 1-9, further comprising: a guide pin pusher (e.g., 124) configured to push the guide pin through the cannula, wherein the guide pin is operated by one actuator of the one or more actuators.

[0121] Example 11: The system according to any one of Examples 1-10, further comprising: a housing (e.g., 102) that houses the motor, the one or more actuators, and at least a portion of each of the cutting tool and the guide pin.

[0122] Example 12: The system according to any one of Examples 1-11, wherein the guide pin pusher is manually actuated.

[0123] Example 13: The system according to any one of Examples 1-12, further comprising: one or more sensors (e.g., 426) configured to measure at least one force exerted on the anatomical element, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: pause the one or more actuators and the motor when the measured at least one force meets or exceeds a predetermined threshold.

[0124] Example 14: The system according to any one of Examples 1-13, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: generate a notification when the measured at least one force meets or exceeds the predetermined threshold.

[0125] Example 15: A system (e.g., 100) comprising: a cutting tool (e.g., 104) having a cannula (e.g., 106); a guide pin (e.g., 108) positioned in the cannula; a processor (e.g., 404); and a memory (e.g., 406) storing data for processing by the processor, the data, when processed, causing the processor to: position the cutting tool near a surface (e.g., 148) of an anatomical element (e.g., 146); cause the guide pin and the cutting tool to rotate; cause the guide pin to extend beyond a tip (e.g., 126) of the cutting tool while the guide pin and the cutting tool rotate, thereby causing the guide pin to cut the anatomical element; and cause the cutting tool to linearly extend towards an end (e.g., 144) of the guide pin while the guide pin and the cutting tool rotate, thereby cutting the anatomical element with the cutting tool.

[0126] Example 16: The system according to Example 15, further comprising: one or more actuators (e.g., 112) configured to extend the guide pin; and a motor (e.g., 110) configured to rotate the guide pin and the cutting tool.

[0127] Example 17: The system according to any one of Examples 15-16, wherein the one or more actuators comprise a first actuator (e.g., 112A) configured to extend the guide pin beyond the tip of the cutting tool and a second actuator (e.g., 112B) configured to cause the cutting tool to linearly extend towards the end of the guide pin.

[0128] Example 18: The system according to any one of Examples 15-17, further comprising: one or more sensors (e.g., 426) configured to measure at least one force exerted on the anatomical element, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: pause the one or more actuators and the motor when the measured at least one force meets or exceeds a predetermined threshold.

[0129] Example 19: The system according to any one of Examples 15-19, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: generate a notification when the measured at least one force meets or exceeds the predetermined threshold.

[0130] Example 20: A cutting system comprising: a cutting tool (e.g., 104) having a cannula (e.g., 106); a guide pin (e.g., 108) positioned in the cannula; a motor (e.g., 110) configured to rotate the cutting tool and the guide pin; one or more actuators (e.g., 112) configured to rotate and extend the guide pin and the cutting tool and to also extend the guide pin beyond a tip (e.g., 126) of the cutting tool; a processor (e.g., 404); and a memory (e.g., 406) storing data for processing by the processor, the data, when processed, causing the processor to: position the cutting tool near a surface (e.g., 148) of an anatomical element (e.g., 146); cause the motor to rotate the guide pin and the cutting tool; cause a first actuator (e.g., 112A) of the one or more actuators to extend the guide pin beyond a tip (e.g., 126) of the cutting tool while the motor rotates the guide pin and the cutting tool to cause the guide pin to cut the anatomical element; and cause a second actuator (e.g., 112B) of the one or more actuators to linearly extend the cutting tool towards an end (e.g., 144) of the guide pin while the motor rotates the guide pin and the cutting tool to cut the anatomical element with the cutting tool.

Claims

CLAIMSWhat is claimed is:

1. A cutting system (100) comprising: a cutting tool (104) having a cannula (106); a guide pin (108) positioned in the cannula; a motor (110) configured to rotate the cutting tool and the guide pin; and one or more actuators (112) configured to extend the guide pin and the cutting tool and to also extend the guide pin beyond a tip of the cutting tool.

2. The system of claim 1, further comprising: a processor (404); and a memory (406) storing data for processing by the processor, the data, when processed, causing the processor to: position the cutting tool near a surface (148) of an anatomical element (146); cause the motor to rotate the guide pin and the cutting tool; cause a first actuator (112A) of the one or more actuators to extend the guide pin beyond a tip (126) of the cutting tool while the motor rotates the guide pin and the cutting tool to cause the guide pin to cut the anatomical element; and cause the cutting tool to linearly extend towards an end (144) of the guide pin while the motor rotates the guide pin and the cutting tool to cut the anatomical element with the cutting tool.

3. The system of claim 2, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: cause the cutting tool and the guide pin to linearly extend together into the anatomical element while the motor rotates the guide pin and the cutting tool to cut the anatomical element with the cutting tool.

4. The system of claim 3, further comprising a robotic arm (416) configured to support, orient, and operate the automating cutting system5. The system of claim 4, wherein the robotic arm positions the cutting tool near the surface of the anatomical element.P-639496-PC6. The system of claim 4, wherein at least one of the robotic arm or a second actuator (112B) of the one or more actuators causes the cutting tool and the guide pin to linearly extend together into the anatomical element.

7. The system of claim 2, wherein a second actuator (112B) of the one or more actuators causes the cutting tool to linearly extend towards the end of the guide pin.

8. The system of any of claims 1-7, wherein the one or more actuators comprises a first actuator (112A) configured to extend the guide pin beyond the tip of the cutting tool, a second actuator (112B) configured to linearly extend the cutting tool to an end of the guide pin, and a third actuator configured to linearly move or extend the guide pin and the cutting tool.

9. The system of any of claims 1-8, wherein the guide pin comprises K-wire and the cutting tool comprises a surgical drill.

10. The system of any of claims 1-9, further comprising: a guide pin pusher (124) configured to push the guide pin through the cannula, wherein the guide pin is operated by one actuator of the one or more actuators.

11. The system of any of claims 1-10, further comprising: a housing (102) that houses the motor, the one or more actuators, and at least a portion of each of the cutting tool and the guide pin.

12. The system of any of claims 1-11, further comprising: one or more sensors (426) configured to measure at least one force exerted on the anatomical element, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: pause the one or more actuators and the motor when the measured at least one force meets or exceeds a predetermined threshold.

13. The system of claim 12, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: generate a notification when the measured at least one force meets or exceeds the predetermined threshold.

14. A cutting system comprising: a cutting tool (104) having a cannula (106); a guide pin (108) positioned in the cannula; a motor (110) configured to rotate the cutting tool and the guide pin; 1SUBSTITUTE SHEET (RULE 26)one or more actuators (112) configured to rotate and extend the guide pin and the cutting tool and to also extend the guide pin beyond a tip (126) of the cutting tool; a processor (404); and a memory (406) storing data for processing by the processor, the data, when processed, causing the processor to: position the cutting tool near a surface (148) of an anatomical element (146); cause the motor to rotate the guide pin and the cutting tool; cause a first actuator (112A) of the one or more actuators to extend the guide pin beyond a tip (126) of the cutting tool while the motor rotates the guide pin and the cutting tool to cause the guide pin to cut the anatomical element; and cause a second actuator (112B) of the one or more actuators to linearly extend the cutting tool towards an end (144) of the guide pin while the motor rotates the guide pin and the cutting tool to cut the anatomical element with the cutting tool.

Images