# US 11,896,314 B2 · Surgical instrument including housing, a cutting accessory that extends from the housing and actuators that establish the position of the cutting accessory relative to the housing

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,896,314 B2
- Document ID: US11896314B2
- Status: Granted
- Kind: B2
- Application number: 17/406,402
- Filed: 2021-08-19
- Published: 2021-12-09
- Granted: 2024-02-13
- Earliest claimed: 2011-09-02
- Assignees: Stryker Corporation
- Applicants: Stryker Corporation
- Inventors: Timothy J. Bozung
- Web page: https://patentgrep.com/patent/US11896314B2

## CPC

- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 17/0218: {for minimally invasive surgery (A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 17/16: Instruments for performing osteoclasis; Drills or chisels for bones; Trepans {(arthroscopic bone cutters A61B17/320016)}
- A61B 17/1615: {Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material}
- A61B 17/1622: {Drill handpieces (A61B17/1626, A61B17/1628 take precedence)}
- A61B 17/1626: {Control means; Display units}
- A61B 17/1666: {for the acetabulum}
- A61B 17/1675: {for the knee}
- A61B 17/1703: {using imaging means, e.g. by X-rays}
- A61B 17/1746: {for the acetabulum}
- A61B 17/32002: {with continuously rotating, oscillating or reciprocating cutting instruments}
- A61B 17/3403: {Needle locating or guiding means}
- A61B 17/3423: {Access ports, e.g. toroid shape introducers for instruments or hands (access sites for liquids A61M39/0247)}
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/25: {User interfaces for surgical systems}
- A61B 34/70: {Manipulators specially adapted for use in surgery}
- A61B 34/75: {Manipulators having means for prevention or compensation of hand tremors}
- A61B 90/11: with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61F 2/08: Muscles; Tendons; Ligaments
- A61F 2/28: Bones
- A61F 2/30756: {Cartilage endoprostheses (A61F2/3603 takes precedence)}
- A61F 2/4455: {for the fusion of spinal bodies, e.g. intervertebral fusion of adjacent spinal bodies, e.g. fusion cages (intervertebral discs A61F2/442)}
- A61F 2/4611: {of spinal prostheses}
- A61F 11/00: Methods or devices for treatment of the ears or hearing sense (implantable prostheses that substitute or replace internal ear parts, e.g. ear-drums, A61F2/18; methods or devices to cause a change in the state of auditory consciousness A61M21/00; electrotherapy applying electrical stimulation of the auditory system, or circuits therefor A61N1/36; radiotherapy using optical stimulation of the auditory system A61N5/06; electro-acoustic hearing aids H04R25/00); Non-electric hearing aids; Methods or devices for enabling ear patients to achieve auditory perception through physiological senses other than hearing sense; Protective devices for the ears, carried on the body or in the hand (headwear, e.g. caps or helmets, with means for protecting the ears A42B1/0188, A42B3/16)
- A61N 1/0541: {Cochlear electrodes}
- A61B 17/162: {Chucks or tool parts which are to be held in a chuck}
- A61B 17/1624: {Drive mechanisms therefor}
- A61B 2017/00199: {with a console, e.g. a control panel with a display}
- A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids}
- A61B 2017/0042: {with special provisions for gripping}
- A61B 2017/00455: {Orientation indicators, e.g. recess on the handle}
- A61B 2017/00694: {with means correcting for movement of or for synchronisation with the body}
- A61B 2017/00991: {Telescopic means}
- A61B 2017/1602: {Mills}
- A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones}
- A61B 2034/107: {Visualisation of planned trajectories or target regions}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/2059: {Mechanical position encoders}
- A61B 2034/2068: {using pointers, e.g. pointers having reference marks for determining coordinates of body points}
- A61B 2034/2072: {Reference field transducer attached to an instrument or patient}
- A61B 2090/372: {Details of monitor hardware}
- A61B 2090/374: {NMR or MRI}
- A61B 2090/376: {using X-rays, e.g. fluoroscopy}
- A61B 2090/3762: {using computed tomography systems [CT]}
- A61F 2002/2839: {Bone plugs or bone graft dowels}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)
- A61N: ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY (measurement of bioelectric currents A61B; surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body A61B18/00; anaesthetic apparatus in general A61M; incandescent lamps H01K; infrared radiators for heating H05B)

## Abstract

A system including an instrument adapted to be manually supported and moved by a user. The instrument having a hand-held portion, a working portion movably coupled to the hand-held portion, and a plurality of actuators operatively coupled to the working portion for moving the working portion in a plurality of degrees of freedom relative to the hand-held portion. The instrument having a tracking device attached to the hand-held portion. The system including a navigation system for determining a position of the working portion relative to a target volume, and a control system in communication with the actuators to control the actuators to move the working portion relative to the hand-held portion such that the working portion autonomously follows a path defined in the control system to remove material of the target volume while the user maintains the hand-held portion in a gross position relative to the target volume.

## Claims

### Claim 1

A system comprising:
an instrument adapted to be manually supported and moved by a user, the instrument including a hand-held portion, a working portion including a cutting accessory movably coupled to the hand-held portion with a plurality of actuators, a plurality of actuators operatively coupled to the working portion for moving the working portion in a plurality of degrees of freedom relative to the hand-held portion, and a plurality of sensors for sensing positions of the working portion relative to the hand-held portion, the plurality of actuators configured to preventing backdriving; and
a control system in communication with the actuators to control the actuators to move the working portion relative to the hand-held portion, the control system operable in both a passive mode and a manual override mode, the system monitoring a position of the cutting accessory relative to a work course along which the working portion of the instrument should travel while in the passive mode, and the control system operable to control the instrument to become a fixed and stiff tool while in the manual override mode.

### Claim 2 (depends on 1)

The system of claim 1, wherein the control system is further configured to establish a home position of the working portion relative to the hand-held portion, and track deflection of the working portion from the home position as the working portion moves in one or more of the plurality of degrees of freedom relative to the hand-held portion to maintain the work course, the control system controlling the plurality of actuators to default to the home position while in the manual override mode.

### Claim 3 (depends on 1)

The system of claim 1 further comprising a trigger coupled to the control system and the hand-held portion, the trigger operable to control a speed of the cutting accessory while in the manual override mode.

### Claim 4 (depends on 1)

The system of claim 1, wherein the cutting accessory comprises a saw blade.

### Claim 5 (depends on 1)

The system of claim 1, further comprising a navigation system and determine a position of the working portion relative to a target volume.

### Claim 6 (depends on 5)

The system of claim 5 further comprising a display in communication with the navigation system for indicating the position of the working portion relative to the target volume.

### Claim 7 (depends on 6)

The system of claim 6, wherein the display provides visual instructions to inform the user where to position the hand-held portion relative to the target volume.

### Claim 8 (depends on 1)

The system of claim 1, wherein the control system is configured to:
define a virtual boundary;
evaluate a position of the working portion and cutting accessory relative to the virtual boundary; and
stop movement of the cutting accessory when the cutting accessory reaches or crosses the virtual boundary.

### Claim 9

A system comprising:
an instrument adapted to be manually supported and moved by a user, the instrument including:
a hand-held portion;
a working portion including a cutting accessory movably coupled to the hand-held portion;
a plurality of actuators operatively coupled to the working portion for moving the working portion in a plurality of degrees of freedom relative to the hand-held portion, each of the plurality of actuators including a motor; and
a plurality of sensors for sensing positions of the working portion relative to the hand-held portion; and
a control system in communication with the actuators to control the actuators to move the working portion relative to the hand-held portion, the control system configured to:
determine whether the cutting accessory is within a snapping radius of a location where a void space is to be formed; and
controlling the motors of the plurality of actuators to position the cutting accessory so that a distal end of the cutting accessory is positioned above a location at which the void space is to be formed when the cutting accessory is within the snapping radius, the snapping radius being less than a maximum deflection radius of the cutting accessory relative to the hand-held portion.

### Claim 10 (depends on 9)

The system of claim 9, wherein each of the plurality of actuators are configured to move between a first position and a second position to move the working portion 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 working portion has a maximum range of motion when the plurality of actuators are at their home position.

### Claim 11 (depends on 10)

The system of claim 10, wherein the cutting accessory moves from the home position to the positioned above the location at which the void space is to be formed when the cutting accessory is within the snapping radius.

### Claim 12 (depends on 9)

The system of claim 9, wherein the cutting accessory comprises a saw blade.

### Claim 13 (depends on 9)

The system of claim 9, further comprising a display in communication with a navigation system for indicating a position of the working portion relative to the void space.

### Claim 14 (depends on 13)

The system of claim 13, wherein the display provides visual instructions to inform the user where to position the hand-held portion relative to the void space.

### Claim 15

A system comprising:
an instrument adapted to be manually supported and moved by a user, the instrument including a hand-held portion, a working portion movably coupled to the hand-held portion, a plurality of actuators operatively coupled to the working portion for moving the working portion in a plurality of degrees of freedom relative to the hand-held portion, and a plurality of sensors for sensing positions of the working portion relative to the hand-held portion;
a control system in communication with the actuators to control the actuators to move the working portion in a plurality of degrees of freedom relative to the hand-held portion, the control system being configured to establish a home position of the working portion relative to the hand-held portion and track deflection of the working portion from the home position as the working portion moves in one or more of the plurality of degrees of freedom relative to the hand-held portion; and
wherein the control system is configured to control a cutting speed of the working portion based on the deflection into the deflected position.

### Claim 16 (depends on 15)

The system of claim 15, wherein the control system determines the deflection of the working portion from the home position, the deflection is based on comparison of a necessary deflection to a maximum possible deflection of the working portion; and
wherein the necessary deflection is a first deflection and a second deflection, the first deflection corresponding to a first cutting speed of the working portion, and the second deflection corresponding to a second cutting speed of the working portion, the first cutting speed is greater than the second cutting speed.

### Claim 17 (depends on 15)

The system of claim 15, wherein the working portion comprises a saw blade.