TOOL, KIT-OF-PARTS FOR MULTI-FUNCTIONAL TOOL, AND ROBOTIC SYSTEM FOR SAME

• US 20110082462A1
• Filed: 09/29/2010
• Published: 04/07/2011
• Est. Priority Date: 10/01/2009
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Ebbitt, Peter L., SUAREZ, Joseph, Schmitz, Brian D., Kang, Hyosig
• Granted Patent: US 8,753,346 B2
• Time in Patent Office: Days
• US Class Current: 606/99
• CPC Class Codes: A61B 17/1617 with mobile or detachable parts
• CPC Class Codes: A61B 17/162 Chucks or tool parts which are to be held in a chuck
• CPC Class Codes: A61B 17/1631 Special drive shafts, e.g. flexible shafts A61B17/1642, A61B17/164 take precedence
• CPC Class Codes: A61B 17/1655 for tapping
• CPC Class Codes: A61B 17/1659 Surgical rasps, files, planes, or scrapers
• CPC Class Codes: A61B 17/1664 for the hip
• CPC Class Codes: A61B 17/1666 for the acetabulum
• CPC Class Codes: A61B 17/1684 for the shoulder
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/062 penetration depth
• CPC Class Codes: A61B 2090/08021 of the patient or his organs
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61F 2/34 Acetabular cups
• CPC Class Codes: A61F 2/36 Femoral heads ; Femoral endoprostheses
• CPC Class Codes: A61F 2/4607 : of hip femoral endoprostheses
• CPC Class Codes: A61F 2/4609 : of acetabular cups
• CPC Class Codes: Y10T 74/20305 : Robotic arm

Abstract

A tool includes a housing including a receiving portion configured to receive at least a portion of an operating member so as to permit rotation of the operating member relative to the housing while constraining movement of the operating member in a radial direction of the operating member. The tool also includes a coupling device disposed on the housing and configured to couple the operating member to the housing so as to permit rotation of the operating member relative to the housing. The coupling device includes a retaining member configured to engage the operating member to constrain movement of the operating member relative to the housing in a longitudinal direction of the operating member. The retaining member is configured to rotate relative to the housing.

Claims

1. A tool, comprising:

a housing including a receiving portion configured to receive at least a portion of an operating member so as to permit rotation of the operating member relative to the housing while constraining movement of the operating member in a radial direction of the operating member; and

a coupling device disposed on the housing and configured to couple the operating member to the housing so as to permit rotation of the operating member relative to the housing,

wherein the coupling device includes a retaining member configured to engage the operating member to constrain movement of the operating member relative to the housing in a longitudinal direction of the operating member, wherein the retaining member is configured to rotate relative to the housing.

2. The tool of claim 1, wherein the retaining member is configured to rotate relative to the operating member.

3. The tool of claim 1, wherein the retaining member is configured to be moveable between first and second positions and is configured to constrain the operating member when the retaining member is in the first position and permit decoupling of the operating member from the housing when the retaining member is in the second position.

4. The tool of claim 3, further comprising a release member coupled to the coupling device and configured to move the retaining member between the first position and the second position.

5. The tool of claim 1, wherein the retaining member includes a first portion configured to move along the longitudinal direction and a second portion configured to move along the radial direction in response to movement of the first portion along the longitudinal direction.

6. The tool of claim 5, wherein the second portion is configured to move along the radial direction to engage a portion of the operating member.

7. The tool of claim 6, wherein the receiving portion has at least one hole therein, and the first portion is disposed outward relative to the receiving portion and the second portion moves inward in the hole along the radial direction to engage the operating member.

8. The tool of claim 5, wherein the first portion includes a surface configured to engage the second portion and displace the second portion in the radial direction as the first portion moves from the first position to the second position.

9. The tool of claim 8, wherein the surface includes a race and the second portion includes a ball bearing.

10. The tool of claim 5, wherein the first portion and the second portion are configured to rotate relative to one another.

11. The tool of claim 1, further comprising a stop member configured to engage the operating member to limit movement of the operating member relative to the housing.

12. The tool of claim 11, wherein the stop member is disposed remotely from the coupling device.

13. The tool of claim 1, wherein the tool comprises an end effector configured to be mounted to an end of a robotic arm.

14. A kit-of-parts for a multi-functional tool, comprising:

a first operating member configured to have a first function, wherein the first operating member has a first coupling region;

a second operating member configured to have a second function, wherein the second operating member has a second coupling region;

a housing including a receiving portion configured to individually and interchangeably receive at least a portion of the first operating member and the second operating member so as to permit rotation of the received operating member relative to the housing while constraining movement of the received operating member in a radial direction of the received operating member; and

a coupling device disposed on the housing and configured to couple the received operating member to the housing so as to permit rotation of the received operating member relative to the housing,

wherein the coupling device includes a retaining member configured to engage a corresponding one of the first coupling region and the second coupling region to constrain movement of the received operating member relative to the housing in a longitudinal direction of the received operating member,

wherein the coupling device and first and second operating members are configured so as to constrain the movement of the received operating member in the longitudinal direction to a first region of constraint when the coupling device engages the first coupling region of the first operating member and to a second region of constraint, which is different from the first region of constraint, when the coupling device engages the second coupling region of the second operating member.

15. The kit-of-parts of claim 14, wherein the first region of constraint is a substantially fixed axial location relative to the housing.

16. The kit-of-parts of claim 14, wherein the second region of constraint includes a first axial location and a second axial location and the second operating member is moveable therebetween.

17. The kit-of-parts of claim 16, further comprising a stop member disposed remotely from the coupling device and configured to engage the second operating member to limit translation of the second operating member in the second region of constraint.

18. The kit-of-parts of claim 14, wherein the first coupling region includes a first recess in a peripheral surface of the first operating member and the second coupling region includes a second recess in a peripheral surface of the second operating member, wherein a longitudinal length of the first recess is less than that of the second recess.

19. The kit-of-parts of claim 18, wherein proximal and distal ends of a corresponding one of the first recess and the second recess define a range of motion of the received operating member in a corresponding one of the first region of constraint and the second region of constraint.

20. The kit-of-parts of claim 19, wherein the first recess is configured so that the proximal and distal ends of the first recess simultaneously contact the retaining member when the retaining member is engaged with the first coupling region.

21. The kit-of-parts of claim 19, wherein the second recess is configured so that the retaining member contacts the proximal end of the second recess, the distal end of the second recess, or neither when the retaining member is engaged with the second coupling region.

22. The kit-of-parts of claim 14, wherein the retaining member is configured to rotate relative to the housing.

23. The kit-of-parts of claim 22, wherein the retaining member is configured to rotate relative to the received operating member.

24. The kit-of-parts of claim 14, wherein the retaining member includes a first portion and a second portion, and wherein the first portion is configured to displace the second portion to engage the coupling region of the received operating member to thereby constrain the received operating member.

25. The kit-of-parts of claim 24, wherein the first and second portions of the retaining member are configured to rotate relative to one another.

26. The kit-of-parts of claim 14, further comprising a release member coupled to the coupling device and configured to move the retaining member between a first position in which the received operating member is unconstrained and a second position in which the received operating member is constrained.

27. The kit-of-parts of claim 14, wherein the first operating member includes a workpiece-engaging end and a proximal end, and the proximal end is configured to connect to a drive member.

28. The kit-of-parts of claim 14, wherein the second operating member includes a workpiece-engaging end and a proximal end, and the proximal end is configured to receive an impact force.

29. The kit-of-parts of claim 28, wherein the proximal end is configured to withstand an impact force sufficient to impact a prosthetic device disposed on the workpiece-engaging end of the second operating member into a joint of a surgical patient.

30. The kit-of-parts of claim 14, wherein the first function comprises a reaming function and the second function comprises an impaction function.

31. The kit-of-parts of claim 14, wherein the first operating member comprises at least one of a straight reamer shaft and an offset reamer shaft and the second operating member comprises at least one of a straight impactor shaft and an offset impactor shaft.

32. The kit-of-parts of claim 14, wherein the multi-functional tool comprises an end effector configured to be disposed on an end of the robotic arm.

33. A robotic system, comprising:

a first operating member comprising at least one of a straight reamer shaft and an offset reamer shaft;

a second operating member comprising at least one of a straight impactor shaft and an offset impactor shaft;

a robotic arm;

a housing coupled to the robotic arm and including a receiving portion configured to individually and interchangeably receive at least a portion of the first operating member and the second operating member so as to permit rotation of the received operating member relative to the housing while constraining movement of the received operating member in a radial direction of the received operating member; and

a coupling device disposed on the housing and configured to couple the received operating member to the housing so as to permit rotation of the first operating member about a longitudinal axis of the first operating member and to permit movement of the second operating member along a longitudinal axis of the second operating member.

34. The robotic system of claim 33, wherein the first operating member has a first coupling region and the second operating member has a second coupling region, and wherein the coupling device includes a retaining member configured to engage a corresponding one of the first coupling region and the second coupling region to thereby couple the received operating member to the housing.

35. The robotic system of claim 34, wherein the retaining member is configured to rotate relative to the housing.

36. The robotic system of claim 34, wherein the retaining member is configured to rotate relative to the received operating member.

37. The robotic system of claim 34, wherein the retaining member includes a first portion and a second portion, and wherein the first portion is configured to displace the second portion to engage the coupling region of the received operating member.

38. The robotic system of claim 34, wherein the first and second portions of the retaining member are configured to rotate relative to one another.

39. The robotic system of claim 34, further comprising a release member coupled to the coupling device and configured to move the retaining member between a first position in which the received operating member is unconstrained and a second position in which the received operating member is constrained.

40. The robotic system of claim 34, wherein the first coupling region includes a first recess in a peripheral surface of the first operating member and the second coupling region includes a second recess in a peripheral surface of the second operating member, wherein a longitudinal length of the first recess is less than that of the second recess.

41. The robotic system of claim 40, wherein the first recess is configured so that proximal and distal ends of the first recess simultaneously contact the retaining member when the retaining member is engaged with the first coupling region.

42. The robotic system of claim 40, wherein the second recess is configured so that the retaining member contacts a proximal end of the second recess, a distal end of the second recess, or neither when the retaining member is engaged with the second coupling region.

43. The robotic system of claim 33, wherein the coupling device and first operating member are configured to constrain movement of the first operating member along the longitudinal axis of the first operating member to a first region of constraint, and wherein the coupling device and the second operating member are configured to limit the movement of the second operating member along the longitudinal axis of the second operating member to a second region of constraint, which is different from the first region of constraint.

44. The robotic system of claim 43, wherein the first region of constraint is a substantially fixed axial location relative to the housing.

45. The robotic system of claim 43, wherein the second region of constraint includes a first axial location and a second axial location and the second operating member is moveable therebetween.

46. The robotic system of claim 43, further comprising a stop member disposed remotely from the coupling device and configured to engage the second operating member to limit translation of the second operating member in the second region of constraint.

47. The robotic system of claim 33, wherein the first operating member includes a workpiece-engaging end and a proximal end, and the proximal end is configured to connect to a drive member.

48. The robotic system of claim 33, wherein the second operating member includes a workpiece-engaging end and a proximal end, and the proximal end is configured to receive an impact force.

49. The robotic system of claim 33, wherein the proximal end is configured to withstand an impact force sufficient to impact a prosthetic device disposed on the workpiece-engaging end of the second operating member into a joint of a surgical patient.