Impact drill lithotripter

A lithotripter for fragmenting urinary tract stones, the lithotripter comprising:

• a motor operable to produce a rotational motion, having an electromagnetic rotor disposed within a stator coil of the motor, the electromagnetic rotor rotating within the stator coil at times electrical energy is supplied to the stator coil;
• a first cam directly coupled to the electromagnetic rotor of the motor, forming an integrated unit with the motor, the rotational motion produced by the motor resulting in rotational motion of the first cam;
• a second cam selectively engages with the first cam, converting the rotational motion of the first cam to a linear waveform that is transmitted through the second cam;
• a driver housing, wherein the motor, the first cam, and the second cam are disposed in the driver housing;
• a biasing member positioned distally to the second cam between a distal end of the driver housing and the second cam, urging the second cam against the first cam;
• and
• a wave guide shaft coupled to the second cam, transmitting the linear waveform to at least one urinary tract stone to break up the at least one urinary tract stone into fragments.