US 12,310,671 B2
Computer controlled surgical rotary tool
Brett Bell, Mendon, UT (US)
Assigned to SMITH & NEPHEW, INC., Memphis, TN (US); SMITH & NEPHEW ORTHOPAEDICS AG, Zug (CH); and SMITH & NEPHEW ASIA PACIFIC PTE. LIMITED, Singapore (SG)
Appl. No. 17/620,246
Filed by Smith & Nephew, Inc., Memphis, TN (US); Smith & Nephew Asia Pacific Pte. Limited, Singapore (SG); and Smith & Nephew Orthopaedics AG, Zug (CH)
PCT Filed Jun. 18, 2020, PCT No. PCT/US2020/038414
§ 371(c)(1), (2) Date Dec. 17, 2021,
PCT Pub. No. WO2020/257444, PCT Pub. Date Dec. 24, 2020.
Claims priority of provisional application 62/863,039, filed on Jun. 18, 2019.
Prior Publication US 2022/0338935 A1, Oct. 27, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 17/16 (2006.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 17/16 (2013.01); A61B 34/10 (2016.02); A61B 34/30 (2016.02); A61B 2034/2055 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system for resecting a bone of a patient, the system comprising:
a rotary tool having:
a tool body,
a tracking array affixed to the tool body, the tracking array comprising three or more fiducial markers,
a powered rotary cutting tip comprising a longitudinal axis, wherein the powered rotary cutting tip is affixed to the tool body and rotatable about the longitudinal axis by a motor to resect the bone,
first and second linear actuators configured to adjust one or more of a vertical position and a pitch position of the powered rotary cutting tip with respect to the tool body, and
a tool rest extending from the tool body configured to maintain contact with the bone at a portion that is intended to be resected and removed as the tool body is moved during a portion of a surgical procedure;
a surgical tracking device configured to identify a position of each of the three or more fiducial markers with respect to the bone; and
a processor configured to cause the system to:
receive a surgical plan comprising at least one virtual cutting plane on the bone,
receive the position of the three or more fiducial markers from the surgical tracking device,
determine, based on the position of the three or more fiducial markers, a real-time pose of the cutting tip with respect to the at least one virtual cutting plane, and
control the first and second linear actuators, based on the real-time pose, to adjust one or more of the vertical position and the pitch position of the rotary cutting tip with respect to the tool body to maintain the powered rotary cutting tip on the at least one virtual cutting plane.