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EP-4740887-A2 - SURGICAL INSTRUMENT

EP4740887A2EP 4740887 A2EP4740887 A2EP 4740887A2EP-4740887-A2

Abstract

A surgical instrument (1200) comprises a pivoting portion (1202), a shaft (1224) disposed in said pivoting portion (1202), a first drive motor (1216) disposed in said pivoting portion (1202) and being configured to rotate said shaft (1224), and a second drive motor (1226) disposed in said pivoting portion (1202) and being configured to linearly translate said shaft (1224). Said second drive motor (1226) includes a rotor (1230) and a drive gear (1236) each defining an aperture (1232) extending therethrough to receive said shaft (1224) and to enable said shaft (1224) to freely rotate and linearly translate therethrough.

Inventors

  • BOZUNG, TIMOTHY J.

Assignees

  • Stryker Corporation

Dates

Publication Date
20260513
Application Date
20161130

Claims (15)

  1. A surgical instrument comprising: a hand-held portion configured to be manipulated by a user; a pivoting portion operatively coupled to said hand-held portion and being configured to pivot with respect to said hand-held portion according to first and second degrees of freedom; and wherein said pivoting portion includes a telescoping nose mechanism including: a nose tube configured to operatively support an accessory, an intermediate unit having a carriage extending from said nose tube to enable linear translation of said nose tube, a drive motor axially fixed relative to said pivoting portion, the drive motor cooperating with said carriage to linearly translate said nose tube and said accessory relative to said hand-held portion with respect to a third degree of freedom, and a coupling assembly coupled to the nose tube and being configured to support the accessory, the coupling assembly including: a connector having a bore to enable an accessory shaft of the accessory to extend therethrough.
  2. The surgical instrument of claim 1, wherein said pivoting portion includes an accessory drive motor and an intermediate shaft rotated by said accessory drive motor.
  3. The surgical instrument of claim 2, wherein said accessory drive motor includes an electromagnetic coil and a rotor rotatable by said electromagnetic coil and having an aperture extending through said rotor to enable said intermediate shaft to extend through said rotor.
  4. The surgical instrument of claim 2 or 3, wherein said nose tube includes an interconnecting shaft having a first end coupled to said intermediate shaft and a second end being configured to couple to a shaft of the accessory to enable driving of the accessory.
  5. The surgical instrument of claim 4, wherein each of said first and second ends of said interconnecting shaft has a double-D shaped opening such that said first end is configured to receive a mating end of said intermediate shaft and such that said second end is configured to receive a mating end of the shaft of the accessory.
  6. The surgical instrument of any one of the preceding claims, wherein said telescoping nose mechanism includes an internal bearing disposed within said nose tube and being configured to support movement of a shaft of the accessory.
  7. The surgical instrument of any one of the preceding claims, further comprising a casing supporting said telescoping nose mechanism and with said nose tube being configured to linearly translate relative to said casing with respect to said third degree of freedom.
  8. The surgical instrument of any one of the preceding claims, wherein said intermediate unit includes a plurality of leadscrews and wherein.
  9. The surgical instrument of claim 8, wherein said carriage is configured to linearly translate along said leadscrews and/or wherein said carriage is threaded to interface with threads on said leadscrews.
  10. The surgical instrument of claim 8 or 9, wherein said carriage includes a central aperture extending therethrough to receive said nose tube and a plurality of second apertures spaced radially from said central aperture for receiving and cooperating with said leadscrews.
  11. A surgical instrument comprising: a nose tube configured to operatively support an accessory; a drive motor including a drive gear; and an intermediate unit coupled between said nose tube and said drive motor and including a plurality of leadscrews each being threaded and having a driven gear at one end and with said intermediate unit including a carriage being threaded for interfacing with said leadscrews; wherein said drive gear is configured to interface with each of said driven gears to enable rotation of each of said leadscrews such that said carriage linearly translates along said leadscrews to enable telescoping of said nose tube; and a coupling assembly coupled to the nose tube and being configured to support the accessory, the coupling assembly including: a connector having a bore to enable an accessory shaft of the accessory to extend therethrough.
  12. The surgical instrument of claim 11, including an accessory drive motor and an intermediate shaft rotated by said accessory drive motor; and, optionally, wherein said accessory drive motor includes an electromagnetic coil and a rotor rotatable by said electromagnetic coil and having an aperture extending through said rotor to enable said intermediate shaft to extend through said rotor.
  13. The surgical instrument of claim 12, wherein said nose tube includes an interconnecting shaft having a first end coupled to said intermediate shaft and a second end being configured to couple to a shaft of the accessory to enable driving of the accessory; and, optionally, wherein each of said first and second ends of said interconnecting shaft has a double-D shaped opening such that said first end is configured to receive a mating end of said intermediate shaft and such that said second end is configured to receive a mating end of the shaft of the accessory.
  14. A surgical instrument comprising: a pivoting portion; a shaft disposed in said pivoting portion; a nose tube configured to operatively support an accessory; a first drive motor disposed in said pivoting portion and being configured to rotate said shaft; and a second drive motor disposed in said pivoting portion and being configured to linearly translate said shaft and wherein said second drive motor includes a rotor and a drive gear each defining an aperture extending therethrough to receive said shaft and to enable said shaft to freely rotate and linearly translate therethrough; and a coupling assembly coupled to the nose tube and being configured to support the accessory, the coupling assembly including: a connector having a bore to enable an accessory shaft of the accessory to extend therethrough.
  15. The surgical instrument of any preceding claim, wherein the coupling assembly rotatably couples the accessory to the nose tube and further includes one or more bearings disposed in the bore between the connector and the accessory shaft of the accessory to allow rotation therebetween.

Description

CROSS-REFERENCE TO RELATED APPLICATION The subject application claims the benefit of United States provisional patent application no. 62/260,851, filed November 30, 2015, the disclosure of which is hereby incorporated by reference in its entirety. TECHNICAL FIELD The present disclosure relates generally to surgical instruments and, more particularly, to a surgical instrument with a telescoping nose mechanism for use in a system for tracking and controlling the surgical instrument. BACKGROUND Tracking systems (also known as navigation systems) assist surgeons during surgeries that require the precise locating of instruments such as surgical instruments. Such surgeries include neurosurgery, spine, and orthopedic surgery. In one implementation, the tracking system tracks a position and orientation of the surgical instrument during the surgical procedure and often displays the position and/or orientation of the instrument on a monitor in conjunction with a preoperative image or an intraoperative image of the patient (preoperative images are typically prepared by MRI or CT scans, while intraoperative images may be prepared using a fluoroscope, low level x-ray or any similar device). It has also been proposed that the surgical instrument be used free hand without the aid of a cutting jig, guide arm or other constraining mechanism to establish the location to which the cutting implement at the end of the instrument is applied. See, for example, U.S. Patent No. 6,757,582 to Brisson et al. In one implementation, the tracking system typically employs a camera that detects a tracking device located on the surgical instrument. The tracking device has a plurality of optical markers such as light emitting diodes (LEDs) to determine the position and orientation of the surgical instrument. The position of the surgical instrument usually correlates to the coordinates of a working end of the instrument in three-dimensional space, the x, y, z or Cartesian coordinates, relative to the camera. The orientation of the surgical instrument means the pitch, roll, and yaw of the instrument. When both the position and the orientation of the surgical instrument are defined, the relative position of that instrument is known to the tracking system. One type of surgical instrument is known as a "pencil-style" hand-held surgical instrument. The pencil-style hand-held surgical instrument is held by the hand of the user to perform a medical/surgical task on the tissue of the patient such as shape or remove tissue such as bone from a femur. The pencil-style handheld surgical instrument makes use of a telescoping nose for a depth degree of freedom. The pencil-style hand-held surgical instrument also makes use of two additional degrees of freedom which are provided via a pivoting gimbal mechanism. In one implementation, the instrument includes a portion having a threaded nose tube that translates linearly. A motor telescopes the nose tube using an elongated rotor with a long internal thread directly engaging the nose tube. The nose tube has an external thread on a proximal end, which directly interfaces with the rotor of the motor. As the rotor spins in one direction, the nose tube pulls in (due to the nose tube being keyed) and spinning in the opposite direction results in the nose tube pushing out. An example of such a pencil-style hand-held surgical instrument is disclosed in pending patent application U.S. Patent Application Publication No. 2013/0060278, filed August 31, 2012, the entire disclosure of which is hereby expressly incorporated by reference. Although the above has worked well, it is desirable to improve hand-held surgical instruments. SUMMARY One embodiment of a surgical instrument is provided. The surgical instrument comprises a hand-held portion configured to be manipulated by a user and a pivoting portion operatively coupled to the hand-held portion. The pivoting portion is configured to pivot with respect to the hand-held portion according to first and second degrees of freedom. The pivoting portion includes a telescoping nose mechanism including a nose tube, an intermediate unit having a carriage extending from the nose tube to enable linear translation of the nose tube, and a drive motor cooperating with the carriage to linearly translate the nose tube relative to the hand-held portion with respect to a third degree of freedom. Another embodiment of a surgical instrument is provided. The surgical instrument comprises a nose tube, a drive motor including a drive gear, and an intermediate unit coupled between the nose tube and the drive motor. The intermediate unit includes a plurality of leadscrews each being threaded and having a driven gear at one end. The intermediate unit includes a carriage being threaded for interfacing with the leadscrews. The drive gear is configured to interface with each of the driven gears to enable rotation of each of the leadscrews such that the carriage linearly translates along the leadscrews