Robotic hand-held surgical instrument systems and methods

Patent metadata

Field	Value
Publication number	US-12544079-B2
Application number	US-202218262110-A
Country	US
Kind code	B2
Filing date	Jan 20, 2022
Priority date	Jan 20, 2021
Publication date	Feb 10, 2026
Grant date	Feb 10, 2026

Abstract

A system is provided comprising a robotic instrument for use with a tool. In some versions, the robotic instrument comprises a hand-held portion to be held by a user and a tool support movably coupled to the hand-held portion to support the tool. The robotic instrument further includes an actuator assembly operatively attached to the tool support and the hand-held portion and configured to move the tool support relative to the hand-held portion in a plurality of degrees of freedom. The robotic instrument may includes a handle alignment member extending from the hand-held portion. At least a portion of the handle alignment member and a tool plane defined by the tool are aligned when the tool support has an optimal range of motion relative to the hand-held portion.

First claim

The invention claimed is:

1 . A hand-held surgical robotic system, the hand-held surgical robotic system comprising:
a hand-held portion; a blade support movably coupled to the hand-held portion, the blade support including a blade mount defining a blade plane; a saw blade removably coupled to the blade support and disposed on the blade plane, the saw blade defining a longitudinal axis and a lateral axis, perpendicular to the longitudinal axis; an actuator assembly operatively attached to the blade support and the hand-held portion, the actuator assembly configured to move the blade support relative to the handheld portion in a plurality of degrees of freedom; and a handle alignment member extending from the hand-held portion, the handle alignment member including a handle alignment projection extending toward the blade mount, wherein at least a portion of the handle alignment projection is oriented at an oblique angle relative to the longitudinal axis and the lateral axis of the saw blade as the actuator assembly moves the blade support relative to the hand-held portion; wherein the portion of the handle alignment projection and the blade plane are aligned when the blade support has an optimal range of motion relative to the hand-held portion.

2 . The hand-held surgical robotic system of claim 1 , wherein the actuator assembly includes a plurality of actuators, and each of the plurality of actuators are configured to move between a first position and a second position to move the blade support relative to the hand-held portion, wherein a home position is a midpoint between the first position and the second position of each of the plurality of actuators, and the blade support has the optimal range of motion when at least two of the plurality of actuators are at their home position.

3 . The hand-held surgical robotic system of claim 2 , wherein the blade plane and the handle alignment projection are misaligned when the hand-held portion is in a pose that does not provide the optimal range of motion, providing visual indication that the hand-held portion is in a pose that does not provide the blade support with the optimal range of motion.

4 . The hand-held surgical robotic system of claim 2 , wherein the handle alignment member is arranged and sized relative to the blade support such that the handle alignment member does not collide with the blade support at any point between the first position and the second position of each of the plurality of actuators of the actuator assembly.

5 . The hand-held surgical robotic system of claim 4 , wherein the first position and the second position of the plurality of actuators define a range of motion of a distal end of the saw blade relative to the hand-held portion, the range of motion defining a space having a maximum height of about 150 mm and a maximum width of about 115 mm.

6 . The hand-held surgical robotic system of claim 3 , wherein the actuator assembly is configured to adjust at least one of a pitch, an elevation, and a roll of the blade support relative to the hand-held portion;
wherein a first spatial arrangement of the handle alignment projection relative to the blade plane provides visual indication of at least one of a first pitch relationship, a first elevation relationship, and a first roll relationship of the blade support relative to the hand-held portion; wherein the first spatial arrangement provides visual indication that the handle alignment projection and the blade plane are aligned, and the blade support has the optimal range of motion relative to the hand-held portion; wherein a second spatial arrangement of the handle alignment projection relative to the blade plane provides visual indication of at least one of a second pitch relationship, a second elevation relationship, and a second roll relationship of the blade support relative to the hand-held portion; and wherein the second spatial arrangement provides visual indication that the hand-held portion is in a pose relative to the blade support that does not provide the blade support with the optimal range of motion.

7 . The hand-held surgical robotic system of claim 6 , wherein the handle alignment member is a first handle alignment member, and the handle alignment projection is a first handle alignment projection, and the hand-held surgical robotic system further comprises:
a second handle alignment member extending from the hand-held portion at a separate location from the first handle alignment member, the second handle alignment member including a second handle alignment projection extending toward the blade mount, wherein at least a portion of the second handle alignment projection is oblique relative to the longitudinal axis and the lateral axis of the saw blade; wherein the first handle alignment projection and the second handle alignment projection are aligned with the blade plane when the blade support has the optimal range of motion relative to the hand-held portion.

8 . The hand-held surgical robotic system of claim 7 , wherein the actuator assembly is configured to adjust at least the pitch and the roll of the blade support relative to the hand-held portion;
wherein the portion of the first handle alignment projection and the second handle alignment projection that is oblique provides visual indication of the pose of the hand-held portion relative to the blade support in at least two degrees of freedom such that the second spatial arrangement of the first handle alignment projection and the second handle alignment projection relative to the blade plane provides visual indication of at least the second pitch relationship and the second roll relationship of the blade support relative to the hand-held portion, providing visual indication that the hand-held portion is in a pose relative to the blade support that does not provide the blade support with the optimal range of motion.

9 . The hand-held surgical robotic system of claim 3 , further comprising a tool alignment member extending from the blade support, the tool alignment member including a tool alignment projection extending toward the blade mount, wherein at least a portion of the tool alignment projection is oblique relative to the longitudinal axis and the lateral axis of the saw blade.

10 . The hand-held surgical robotic system of claim 9 , wherein at least a portion of the tool alignment projection is oblique relative to the longitudinal axis and the lateral axis of the saw blade.

11 . The hand-held surgical robotic system of claim 10 , wherein the tool alignment projection defines a tool alignment edge, and the handle alignment member defines a handle alignment edge that is oblique relative to the longitudinal axis and the lateral axis of the saw blade;
wherein the tool alignment edge is defined such that the tool alignment edge is offset from and parallel to the handle alignment edge when the blade support is aligned with the hand-held portion.

12 . The hand-held surgical robotic system of claim 10 , wherein the tool alignment projection and the handle alignment projection are misaligned when the hand-held portion is in a pose that does not provide the optimal range of motion, providing visual indication that the hand-held portion is in a pose that does not provide the blade support with the optimal range of motion.

13 . The hand-held surgical robotic system of claim 10 , wherein the handle alignment projection and the tool alignment projection include a first visual indicia and a second visual indicia, the first visual indicia being visually distinguishable from the second visual indicia; and
wherein the first visual indicia of the handle al

Assignees

• Mako Surgical Corp

Inventors

• Vandyken Benjamin
• Lindeman Phillip
• Hershberger David E
• Payne Dustin James
• Arens Gregory Daniel

Classifications

• A61B2090/034

  abutting on parts of the device itself · CPC title

• A61B90/03

  Automatic limiting or abutting means, e.g. for safety · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B17/142 Primary

  with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades · CPC title

• B23D51/02

  of beds; of guiding arrangements for work-tables or saw carriers; of frames · CPC title