Patent Description:
An end effector with a release actuator is known from document <CIT>. The end effector includes a tool with a drive configured to be coupled to and drive an engaging member for engaging a workpiece and a release member configured to be displaced to permit decoupling of the engaging member from the drive. The end effector also includes a housing configured to receive at least a portion of the tool and a release actuator disposed at least partially outside of the housing and coupled to the housing to permit movement between a first position and a second position to displace the release member to permit decoupling of the engaging member from the drive.

Document <CIT> discloses a surgical apparatus including a hand-activated control assembly. According to the surgical apparatus, a handpiece is connected to the assembly. The surgical apparatus includes a sensing element and a member adapted to move relative to the sensing element to control the operation of a motor in the handpiece.

Further, document <CIT> describes an apparatus and method for forming a hole in material for non-medical and medical purposes such as a cranial bur hole for ventriculostomy and brain biopsy procedures. The apparatus includes a main unit upon which a drill unit is located. The drill unit includes a drill bit and an on/off switching means. The main unit includes a handle which is suitable for grasping, an advancing mechanism including a release/engage mechanism, an advancing lever and an optional on/off switch. The drill unit is advanced a predetermined distance relative to the main unit each time the advancing lever is pulled. In use, the apparatus is placed in a desired position upon the material to be drilled such as a patient's skull and is stabilized by a stabilization platform, the apparatus is then turned on, and the advancing lever is pulled to advance the drill unit a predetermined distance relative to a longitudinal axis of the main unit with each pull of the advancing lever. The procedure is ended when the desired depth of penetration has been reached, or the material such as in the case of skull bone, has been completely penetrated.

An end effector of a surgical robotic manipulator is described to comprise a cutting accessory including a working end and a shaft extending along an axis. A drive member is configured to rotatably drive the shaft of the cutting accessory. An actuator is coupled to the drive member for rotatably driving the drive member. A clutch assembly is supported by and is rotatable relative to the drive member and receives the shaft of the cutting accessory along the axis for selectively locking the shaft to the drive member.

An end effector of a surgical robotic manipulator comprises a cutting accessory including a shaft and a shroud rotatably coupled to the shaft. A nose tube extends along an axis for releasably receiving the cutting accessory. A groove and a finger are disposed between the shroud and the nose tube with the finger being flexible relative to the shroud and engaging the groove for releasably locking the cutting accessory to the nose tube along the axis.

An end effector of a surgical robotic manipulator comprises a nose tube extending along an axis for releasably receiving a cutting accessory. The nose tube defines a slot. A finger is supported in the nose tube and includes a protrusion aligned with the slot and biased to extend through the slot for engaging the cutting accessory. A lock collar is rotatably supported in the nose tube adjacent the finger with the finger disposed between the nose tube and the lock collar. The lock collar includes a cutout selectively aligned with the finger for allowing the protrusion to be depressed into the slot.

An end effector of a surgical robotic manipulator comprises a cutting accessory. A nose tube extends along an axis. The nose tube releasably engages and rotatably supports the cutting accessory. An axial connector is supported by the nose tube and releasably locks the cutting accessory to the nose tube along the axis. A drive connector is supported by the nose tube and receives the cutting accessory for rotatably driving the cutting accessory. An actuator is coupled to the drive connector to rotate the drive connector relative to the nose tube. The axial connector is moveable along the axis between a locked position retaining the cutting accessory and an unlocked position releasing the cutting accessory.

An end effector of a surgical robotic manipulator for rotatably driving a cutting accessory comprises a nose tube extending along an axis. An axial connector is supported by the nose tube and is configured to lock the cutting accessory relative to the nose tube along the axis. A drive connector is rotatably supported by the nose tube and is configured to receive the cutting accessory along the axis and rotatably drive the cutting accessory. An actuator is coupled to the drive connector to rotate the drive connector relative to the nose tube. The axial connector is moveable along the axis between a locked position for retaining the cutting accessory and an unlocked position for releasing the cutting accessory.

An end effector of a surgical robotic manipulator comprises a nose tube extending along an axis. A cutting accessory includes a shroud releasably engaged with the nose tube and a cutting tool rotatably coupled to the shroud. An actuator is coupled to the cutting tool for rotating the cutting tool relative to the shroud. An axial connector is retained on the nose tube and is moveable along the axis between an engaged position engaging the shroud of the cutting accessory and a disengaged position disengaging the shroud of the cutting accessory.

A cutting accessory for releasable engagement with an end effector of a surgical robotic manipulator comprises a shaft extending along an axis. A bur is fixed to the shaft. A shroud includes a body rotatably coupled to the shaft and at least one finger extending from the body along the axis away from the bur and configured to releasably engage the end effector. The at least one finger is flexible relative to the body for flexing during engagement with the end effector.

An end effector of a surgical robotic manipulator comprises a rotational drive member configured to be coupled to an actuator and defining a lumen for receiving fluid. A cutting accessory is releasably engageable with the rotational drive member and defines a lumen in communication with the lumen of the rotational drive member. A drive connector is fixed relative to the rotational drive member and engages the cutting accessory for driving the cutting accessory. A fluid delivery member is coupled to the rotational drive member for delivering fluid to the lumen of the rotational drive member. A first seal is in the lumen of the rotational drive member and is rotationally fixed to the rotational drive member and the cutting accessory for sealing between the rotational drive member and the cutting accessory. A second seal is disposed between and seals to the drive connector and the fluid delivery member. The second seal rotatably engages at least one of the rotational drive member and the fluid delivery member for sealing between the rotational drive member and the fluid delivery member during relative rotation therebetween.

An end effector of a surgical robotic manipulator comprises a cutting accessory for cutting tissue of a patient. An actuator is coupled to the cutting accessory for driving the cutting accessory. A nose tube extends along an axis. A lever is supported by the nose tube and is pivotable relative to the nose tube between a depressed position and a released position. A sensor is supported by the nose tube and is configured to identify the position of the lever in the depressed position and the released position. A carriage is coupled to the lever and is moveable relative to the sensor along the axis in response to movement of the lever between the depressed position and the released position for indicating to the sensor the position of the lever in the depressed position and the released position.

According to claim <NUM>, an end effector of a surgical robotic manipulator comprises a cutting accessory for cutting tissue of a patient. An actuator is coupled to the cutting accessory for driving the cutting accessory. A nose tube extends along an axis and receives the cutting accessory. A handle is rotatably supported by the nose tube about the axis of the nose tube. A lever is coupled to the handle about a pivot point and is pivotable about the pivot point between a depressed position and a released position. The pivot point is fixed to the handle about the axis. A sensor is supported by the nose tube and is configured to identify the position of the lever in the depressed position and the released position.

An end effector of a surgical robotic manipulator comprises a nose tube extending along an axis. A cutting accessory is releasably coupled to the nose tube for cutting tissue of a patient. An actuator is coupled to the cutting accessory when the cutting accessory is coupled to the nose tube for driving the cutting accessory. A removable guard is releasably coupled to the cutting accessory for covering a portion of the cutting accessory. A first circuit is mounted to the guard and a second circuit is mounted to the nose tube. The first circuit and the second circuit are configured to communicate with each other.

Also described is a method of assembling a cutting accessory to an end effector of a surgical robotic manipulator with the use of a guard that removably covers a portion of the cutting accessory. The guard supports a first circuit and the end effector includes a nose tube extending along an axis and supporting a second circuit. The method comprises providing the cutting accessory with the guard covering a portion of the cutting accessory. The method includes inserting the cutting accessory into the nose tube along the axis of the nose tube to couple the cutting accessory with the nose tube. The method includes introducing the first circuit into communication with the second circuit. The method includes removing the guard from the cutting accessory.

The clutch assembly allows for quick and easy loading and unloading of the cutting accessory from the drive member. For example, the clutch assembly allows for easy assembly of the cutting accessory to the nose tube by inserting the cutting accessory into the clutch assembly along the axis of the cutting accessory. The arrangement of the clutch assembly being supported by the drive member increases the line of sight to view the cutting accessory at the surgical site. This configuration also reduces the size, or bulk, of the end effector at the end nearest the surgical site to increase access to the surgical site, e.g., to avoid interference during entry of the cutting accessory to the surgical site.

The engagement between the groove and the finger releasably locks the cutting accessory to the nose tube along the axis of the nose tube. In other words, the engagement of the groove and the finger axially locks the cutting accessory to the nose tube. This axial locking precisely positions the cutting accessory relative to the nose tube in a releasable manner.

The lock collar is moveable relative to the nose tube to selectively align the slot of the lock collar with the finger. The protrusion of the finger is biased to extend through the slot for engaging the cutting accessory. When the slot is aligned with the finger, the finger can be depressed into the slot for disengaging the cutting accessory from the nose tube. As such, the lock collar allows for quick and easy attachment and removal of the cutting accessory with the nose tube.

The axial connector and the drive connector enable proper positioning of the cutting accessory relative to the nose tube. Specifically, the axial connector and the drive connector provide precise axial positioning of the cutting accessory relative to the nose tube so that a surgical robot that controls the manipulator can precisely move the end effector during a surgical procedure.

The axial connector and drive connector allow for quick and easy loading and unloading of the cutting accessory from the nose tube. For example, the arrangement of the axial connector and the drive connector allow for one-handed assembly of the cutting accessory to the nose tube. Also, the axial connector and the drive connector provide a repeatable connection. In other words, the axial connector and the drive connector reduce the stack-up of components.

The arrangement of the axial connector and the drive connector increases the line of sight to view the cutting accessory at the surgical site. This configuration also reduces the size, or bulk, of the end effector at the end nearest the surgical site to increase access to the surgical site, e.g., to avoid interference during entry of the cutting accessory to the surgical site.

The lever allows for easy and reliable use of the end effector in a semi-autonomous operation, for example. In other words, a user can grip the lever to move the lever to a depressed position, which is sensed by the sensor to ultimately allow for operation of the end effector. If the user releases grip of the lever to move the lever to the released position, the sensor senses the released position of the lever and operation of the end effector is halted. The rotatable handle can rotate relative to the nose tube during operation of the end effector, which allows the user to comfortably maintain the grip on the lever during operation.

The position of the first circuit on the guard advantageously provides communication between the first circuit and the second circuit when the cutting accessory is coupled to the nose tube. This communication occurs before the guard is removed.

The claimed invention is disclosed in <FIG> and in the corresponding passages of the description. The remaining Figures and description passages disclose examples useful for understanding the invention.

With reference to <FIG> and <FIG>, a robotic surgical manipulator <NUM> includes an end effector <NUM>. The manipulator <NUM> is part of a robotic system <NUM>. The robotic system <NUM>, for example, is a surgical robotic system as shown in <FIG> and <FIG> and operates as set forth further below.

The end effector <NUM> is shown, for example, in <FIG>. The end effector <NUM> includes a surgical instrument <NUM>. The manipulator <NUM> moves to apply the surgical instrument <NUM> to a patient <NUM>. Specifically, the manipulator <NUM> moves to position and orient the surgical instrument <NUM> so that the surgical instrument <NUM> performs the intended medical/surgical procedure on the patient.

The robotic system <NUM> is used in conjunction with a surgical navigation system <NUM>. The surgical navigation system <NUM> monitors the position of the end effector <NUM> and the patient <NUM>. Based on this monitoring, the surgical navigation system <NUM> determines the position of the surgical instrument <NUM> relative to a site on the patient to which the instrument <NUM> is applied.

With continued reference to <FIG> and <FIG>, the robotic system <NUM> includes a mobile cart <NUM>. The manipulator <NUM> includes a linkage assembly <NUM> that moveably connects the end effector <NUM> to the cart <NUM>. Specifically, the end effector <NUM> includes a mounting fixture <NUM> connected to the linkage assembly <NUM>.

The linkage assembly <NUM>, for example, comprises a first parallel four bar link assembly <NUM> and a second parallel four bar link assembly <NUM>. The position of each joint of each link assembly <NUM>, <NUM> is set by an actuator <NUM>. In <FIG>, housings of the actuators <NUM> are identified. Each actuator <NUM>, <NUM> is associated with a separate one of the link assemblies <NUM>, <NUM>.

A processor, referred to as manipulator controller <NUM>, (partially shown as a phantom box in <FIG>) is mounted to the cart <NUM>. The manipulator controller <NUM> asserts the control signals that cause the actuators <NUM> to appropriately set the links of the link assemblies <NUM>, <NUM>. The manipulator controller <NUM> sets the positions of the links of the link assemblies <NUM>, <NUM> based on a number of input signals. These signals include signals data from the surgical navigation system <NUM>. These data provide information regarding the position of the instrument <NUM> relative to the surgical site to which the instrument <NUM> is applied.

The manipulator controller <NUM> selectively sets the position of the links of the link assemblies <NUM>, <NUM> based on the forces and torques applied to the surgical instrument <NUM>. These forces and torques are measured by a force/torque sensor (not numbered). The structure of the manipulator <NUM>, including the manipulator controller <NUM>, are set forth in more detail is <CIT>, entitled, "Surgical Manipulator Capable of Controlling a Surgical Instrument in either a Semi-Autonomous Mode or a Manual, Boundary Constrained Mode".

The robotic system <NUM> can be operable in a manual mode. When the robotic system <NUM> operates in the manual mode, the robotic system <NUM> responds to force and torque that the operator asserts on the end effector <NUM> to position the instrument <NUM>. In response to this force and torque, the linkage assembly <NUM> mechanically moves the instrument <NUM> in a manner that emulates the movement that would have occurred based on the force and torque applied by the operator. As the instrument <NUM> moves, the surgical robotic system <NUM> and surgical navigation system <NUM> cooperate to determine if the instrument is within a defined boundary. This boundary is within the patient and the navigation system <NUM> is configured to prevent the instrument <NUM> from operating outside of the defined boundary. Based on this data, the robotic system <NUM> selectively limits the movement of the linkage assembly <NUM>, and thus the instrument <NUM>. Specifically, the linkage assembly <NUM> constrains movement of the instrument <NUM> that would otherwise result in the application of the instrument <NUM> outside of the defined boundary. If the operator applies force and torque that would result in the advancement of the instrument <NUM> beyond the defined boundary, the linkage assembly <NUM> does not emulate this intended positioning of the instrument <NUM>.

The robotic system <NUM> can be operable in a semi-autonomous mode. To operate the robotic system <NUM> in the semi-autonomous mode, a path of travel of the instrument <NUM> through tissue is generated. At least the basic version of this path is generated prior to the start of the procedure. The linkage assembly <NUM> advances the instrument <NUM> based on the generated path. When the instrument <NUM> is operated in the semi-autonomous mode, the linkage assembly does not advance the instrument <NUM> beyond the defined boundary.

The surgical instrument <NUM> is an instrument that the operator controls to perform the intended medical/surgical procedure. In some embodiments, the surgical instrument <NUM> includes a power generating unit that converts electrical signals into a form of energy that is applied to the patient. This energy may be mechanical, ultrasonic, thermal, RF, EM or photonic. When the surgical instrument <NUM> includes a power generating unit, the energy is applied to the surgical site through an energy applicator that extends from the surgical instrument <NUM>. In the representative embodiment shown in the Figures, the surgical instrument <NUM> includes a cutting accessory <NUM> and an actuator <NUM> coupled to the cutting accessory <NUM> for driving the cutting accessory <NUM>.

The cutting accessory <NUM> is removably engaged with the rest of the end effector <NUM>. <FIG>, <FIG>, for example, show the cutting accessory <NUM> engaged with the rest of the end effector <NUM> and <FIG> shows the end effector <NUM> without the cutting accessory <NUM>. The tool <NUM> is configured to remove tissue from target tissue of the patient. As shown in the Figures, the tool <NUM>, for example, is a bur. In the alternative to a bur, the tool <NUM> can be any type of surgical tool for material cutting and/or material removal in the surgical site.

With reference to <FIG>, the cutting accessory <NUM> includes a tool <NUM> and a shroud <NUM>, <NUM> coupled to the tool <NUM>. Specifically, the cutting accessory <NUM> including one embodiment of the shroud <NUM> is shown in <FIG> and, alternatively, the cutting accessory <NUM> including another embodiment of the shroud <NUM> is shown in <FIG>.

With reference to <FIG>, the tool <NUM> includes a shaft <NUM>, extending along a tool axis T between a proximal end <NUM>, i.e., a free end <NUM>, and a distal end <NUM>, and an end piece <NUM> fixed to the distal end <NUM> of the shaft <NUM>. The shroud <NUM>, <NUM> is rotatably coupled to the shaft <NUM>. The tool <NUM> is typically <NUM>-<NUM> long. For example, the tool <NUM> can be <NUM> long. The shaft <NUM> of the tool <NUM> is typically <NUM>-<NUM> in diameter. For example, the shaft <NUM> can be <NUM> in diameter.

The tool <NUM> includes a cutting tip <NUM> for cutting target tissue of the patient <NUM>. Specifically, the end piece <NUM> presents the cutting tip <NUM>.

The end piece <NUM>, for example, defines a cavity <NUM> that receives the distal end <NUM> of the shaft <NUM>. The end piece <NUM> can be fixed to the shaft <NUM> in any fashion such as, for example, friction fit, adhesive, snap-ring, welding, etc. Alternatively, for example, the end piece <NUM> is integrally formed with the shaft <NUM>, i.e., the end piece <NUM> and the shaft <NUM> are formed together as a unitary part.

The end piece <NUM> defines threads <NUM> adjacent the tool <NUM>. The threads <NUM>, along with an end of the end effector <NUM>, create an Archimedean screw for pushing debris, e.g., cut tissue, bodily liquid, and/or irrigation liquid, away from the end effector <NUM>.

The tool <NUM> shown in the Figures is a bur, as set forth above, and the cutting tip <NUM> of the bur is a cutting head <NUM>. The cutting head <NUM> can be of any size, shape, and configuration without departing from the nature of the present invention.

The shroud <NUM>, <NUM> is rotatably engaged to the tool <NUM> and is axially fixed relative to the tool <NUM> along the tool axis T. The shroud <NUM> is rotatable about the tool axis T.

With reference to <FIG> and <FIG>, a bearing <NUM> is disposed between the tool <NUM> and the shroud <NUM>, <NUM> and is fixed to the tool <NUM> and to the shroud <NUM>, <NUM> along the tool axis T. Specifically, the bearing <NUM> defines a bore <NUM>. The bearing <NUM> receives the shaft <NUM> in the bore <NUM> and is connected to the shaft <NUM> with a friction fit, i.e., an inner diameter of the bore <NUM> and the outer diameter of the shaft <NUM> are sized and shaped such that the bearing <NUM> is secured to the shaft <NUM> by friction between the inner diameter of the bearing <NUM> and the outer diameter of the shaft <NUM>. The friction fit is typically accomplished by pressing the bearing <NUM> onto the shaft <NUM>. The shroud <NUM>, <NUM> receives the bearing <NUM> and is connected to the bearing <NUM> with a friction fit. Specifically, the shroud <NUM>, <NUM> defines an inside surface <NUM> and an outside diameter of the bearing <NUM> is friction fit to the inside surface <NUM>.

With reference to <FIG>, the shroud <NUM> is generally cylindrical in shape. The shroud <NUM> includes a body portion <NUM>, i.e., a base <NUM>, that presents the inside surface <NUM>. At least one finger <NUM> extends from the body portion <NUM>. The shroud <NUM> shown in the Figures, for example, includes several fingers <NUM> that extend from the body portion <NUM>. The fingers <NUM> are circumferentially spaced from each other about the tool axis T. The fingers <NUM> each include a tip <NUM> that tapers, e.g., angles inwardly toward the tool axis T. The fingers <NUM> are flexible relative to the body portion <NUM>, as discussed further below.

With reference to <FIG> and <FIG>, the shroud <NUM> presents an inside surface <NUM> and a groove <NUM> along the inside surface <NUM>. The groove <NUM> typically extends circumferentially about the inside surface <NUM>.

With reference to <FIG>, the cutting accessory <NUM> includes a guard <NUM>. The guard <NUM> covers the cutting tip <NUM> while the cutting accessory <NUM> is being handled <NUM> and/or when the cutting accessory <NUM> is mounted to the end effector <NUM> and not in use. As set forth further below, the guard <NUM> can support identification features, e.g., a memory chip or RFID chip, to identify parameters of the cutting accessory <NUM> to the manipulator controller <NUM>. As also set forth below, the guard <NUM> can be configured to aid in engagement and disengagement of the cutting accessory <NUM> with respect to the end effector <NUM>.

The cutting accessory <NUM> is configured to receive liquid and deliver the liquid to the surgical site during cutting. The liquid typically flows through the tool <NUM>, e.g., the shaft <NUM> and the end piece <NUM>, to the surgical site. The liquid can serve several functions. For example, the liquid can cool the cutting tip and/or cools and irrigates the surgical site, can lubricate the interface between the cutting tip <NUM> and the tissue in contact with the cutting tip <NUM> to reduce heat production at the interface; can clear cut tissue and/or bodily fluid; and/or can cool the shaft <NUM> of the tool <NUM> to draw heat from bearings <NUM> in nose tube <NUM>. The liquid is, for example, an irrigation solution such as, for example, saline solution. Alternatively, the liquid can be of any type to cool and/or irrigate a surgical cutting accessory <NUM> and/or tissue in a surgical site without departing from the nature of the present invention.

With reference to <FIG>, the shaft <NUM> of the tool <NUM> defines a bore <NUM> that extends along the tool axis T for transferring the liquid. The liquid is delivered to bore <NUM> at the proximal end <NUM> of the tool <NUM>, as set forth further below, and the liquid flows from the proximal end <NUM> to the distal end <NUM>.

With reference to <FIG>, the cutting head <NUM> defines at least one port <NUM> in communication with the bore <NUM> of the shaft <NUM>. The cutting head <NUM> typically defines the cavity <NUM> between the bore <NUM> of the shaft <NUM> and the ports <NUM>. The ports <NUM> extend through the cutting head <NUM> to deliver the fluid from the bore <NUM> of the shaft <NUM> to the surgical site. The ports <NUM> extend relative to the tool axis T at an angle designed to deliver the fluid on the surgical site without spraying at staff in the operating room. The ports <NUM> also extend relative to the tool axis T at an angle designed to prevent the fluid from being aimed generally perpendicular to the surgical site to prevent cavitation at the surgical site caused by the fluid. For example, the ports <NUM> typically extend relative to the tool axis T at an angle of between <NUM>° and <NUM>°. The ports <NUM> typically have a diameter of <NUM>-<NUM>.

With reference to <FIG>, the end effector <NUM> includes a nose tube <NUM> that supports the cutting accessory <NUM> when the cutting accessory <NUM> is engaged with the end effector <NUM>. The nose tube <NUM> defines a nose tube bore <NUM> and receives the shaft <NUM> of the cutting accessory <NUM> in the nose tube bore <NUM>. The nose tube <NUM> releasably engages and rotatably supports the cutting accessory <NUM> in the nose tube bore <NUM>. Typically at least one bearing <NUM>, shown for example in <FIG>, and <FIG>, is disposed in the nose tube bore <NUM> and the bearing <NUM> is configured to receive and rotatably support the shaft <NUM> in the nose tube bore <NUM>.

The nose tube <NUM> is fixed relative to the mounting fixture <NUM>. The nose tube <NUM> extends along a nose tube axis N between a distal end <NUM>, i.e., a terminal end <NUM> along the tube axis N, and a proximal end <NUM> of the nose tube <NUM>. The nose tube <NUM> shown in the Figures includes a plurality of segments disposed along the nose tube axis N and the segments are fixed to one another. Alternatively, the nose tube <NUM> is formed of a single piece or is formed of any number of segments without departing from the nature of the present invention.

The end effector <NUM> includes an axial connector <NUM>, <NUM> for axially engaging the cutting accessory <NUM> to the end effector <NUM> and a drive connector <NUM> for rotationally engaging the cutting accessory <NUM> to the end effector <NUM>. Specifically, one embodiment of the axial connector <NUM> is shown in <FIG> and another embodiment of the axial connector <NUM> is shown in <FIG>. The axial connector <NUM> of <FIG> is configured to releasably engage the embodiment of the cutting accessory <NUM> that includes the shroud <NUM>. The axial connector <NUM> of <FIG> is configured to releasably engage the embodiment of the cutting accessory <NUM> that includes the shroud <NUM>.

The axial connector <NUM>, <NUM> is disposed along the nose tube axis N between the terminal end <NUM> and the drive connector <NUM>. The axial connector <NUM>, <NUM> and the drive connector <NUM> are disposed about the nose tube axis N.

As set forth further below, the axial connector <NUM>, <NUM> is supported by the nose tube <NUM> and is configured to lock the cutting accessory <NUM> relative to the nose tube <NUM> along the nose tube axis N. As also set forth further below, the drive connector <NUM> is configured to receive the cutting accessory <NUM> along the nose tube axis N and rotatably drive the cutting accessory <NUM>.

Typically, the axial connector <NUM>, <NUM> and the drive connector <NUM> are spaced from each other along the nose tube axis N. For example, the axial connector <NUM>, <NUM> is disposed at the distal end <NUM> of the nose tube <NUM> and the drive connector <NUM> is spaced from the axial connector <NUM>, <NUM> along the nose tube axis N between the distal end <NUM> and the proximal end <NUM> of the nose tube <NUM>. Alternatively, the drive connector <NUM> and the axial connector <NUM>, <NUM> can be adjacent each other along the tool axis T. The axial connector <NUM>, <NUM> and the distal connector releasably engage the cutting accessory <NUM> to the end effector <NUM>.

The axial connector <NUM>, <NUM> is supported by the nose tube <NUM> and releasably locks the cutting accessory <NUM> to the nose tube <NUM> along the nose tube axis N. The axial connector <NUM>, <NUM> is releasably engaged with the shroud <NUM> of the cutting accessory <NUM>. The axial connector <NUM>, <NUM> defines a bore <NUM> extending along the nose tube axis N and receiving the cutting accessory <NUM>. The cutting accessory <NUM> extends from the terminal end <NUM> of the nose tube <NUM> through the axial connector <NUM>, <NUM> to the drive connector <NUM>. When the cutting accessory <NUM> is assembled to the nose tube <NUM>, the shroud <NUM> of the cutting accessory <NUM> extends along the nose tube axis N between a first end <NUM> proximate the cutting tip <NUM>, e.g., the bur shown in the Figures, and a second end <NUM> distal to the cutting tip <NUM>. The shaft <NUM> extends from the distal end <NUM> of the shroud <NUM> to the drive connector <NUM>.

With reference to the axial connector <NUM> shown in <FIG>, the axial connector <NUM> is typically coupled to the distal end <NUM> of the nose tube <NUM> and is moveable relative to the nose tube <NUM> between an extended position, i.e., a locked position, as shown in <FIG>, to retain the cutting accessory <NUM> and a retracted position, i.e., an unlocked position, as shown in <FIG> to release the cutting accessory <NUM>. Specifically, the axial connector <NUM>, <NUM> is moveable along the axis between the locked position and the unlocked position.

The axial connector <NUM>, for example, includes a barrel <NUM>, i.e., a ring <NUM>, slidably retained on the nose tube <NUM>. In other words, the barrel <NUM> is retained on the nose tube <NUM> and is slideable relative to the nose tube <NUM> between the extended position and the retracted position. Typically, the barrel <NUM> is rotatable about the tool axis T. The barrel <NUM> is typically cylindrical and receives the nose tube <NUM>.

The barrel <NUM> extends radially about the shroud <NUM> to pinch the shroud against the nose tube <NUM> when the cutting accessory <NUM> is engaged with the nose tube <NUM> and the axial connector <NUM> is in the locked position. In other words, in the extended position, the barrel <NUM> is engaged with the cutting accessory <NUM>, e.g., the shroud <NUM> of the cutting accessory <NUM>, to engage the cutting accessory <NUM> to the nose tube <NUM>. In the retracted position, the barrel <NUM> is disengaged with the cutting accessory <NUM> to release the cutting accessory <NUM> from the nose tube <NUM>.

With reference to <FIG>, the nose tube <NUM> includes a guide portion <NUM> that supports the axial connector <NUM>. For example, the nose tube <NUM> includes a guide portion <NUM> that presents the guide portion <NUM>. The barrel <NUM> and the guide portion <NUM> define engaging features to operably couple the barrel <NUM> to the guide portion <NUM> such that the barrel <NUM> is moveable along the guide portion <NUM> between the extended position and the retracted position.

For example, at least one engaging member <NUM> is engaged with the barrel <NUM> and the guide portion <NUM> to couple the barrel <NUM> and the guide portion <NUM>, as shown in <FIG>. The guide portion <NUM> of the nose tube <NUM> defines at least one channel <NUM> and the engaging member <NUM> is engaged with and moveable along the channel <NUM> between the extended position and retracted position. The channel <NUM> extends longitudinally along the nose tube axis N and typically extends through guide portion <NUM>. The nose tube <NUM> shown in the Figures includes four engaging members <NUM> engaged with four channels <NUM>, respectively. However, the axial connector <NUM> can include any number of engaging members <NUM> and corresponding channels <NUM>.

The engaging member <NUM> is, for example, a spherical ball engaged with the barrel <NUM> and with the channel of the guide portion <NUM> to couple the barrel <NUM> to the guide portion <NUM>. The barrel <NUM> defines a recess <NUM>, typically semi-spherical in shape, that receives the ball. The ball is rotatable in the recess <NUM> and is fixed to the barrel <NUM> along the tool axis T. The ball is engaged with the channel <NUM> of the guide portion <NUM> to guide movement of the barrel <NUM> along the channel, i.e., along the nose tube axis N. In the alternative to the ball, the engaging member <NUM> can be any type of feature to couple the barrel <NUM> to the guide portion such as, for example, pins, flanges, etc..

With reference to <FIG>, the axial connector <NUM> includes a biasing device <NUM>, e.g. a spring <NUM>, coupled to the barrel <NUM> and the biasing device <NUM> urges the barrel <NUM> toward the extended position. The barrel <NUM> is movable to the retracted position by applying force against the barrel <NUM> toward the retracted position sufficient to overcome the force exerted by the biasing device <NUM>, i.e., to compress the biasing device <NUM>. As shown in the Figures, for example, the biasing device <NUM> is disposed in the nose tube bore <NUM>. The biasing device <NUM> abuts bearing <NUM> in the nose tube bore <NUM>, as shown in <FIG>, to retain the biasing device <NUM> in position along the nose tube axis N. The biasing device <NUM> shown in the Figures is a coil spring. Alternatively, the biasing device <NUM> is any type of biasing device.

With continued reference to <FIG>, a plunger <NUM> is disposed between the biasing device <NUM> and the barrel <NUM> for coupling the biasing device <NUM> and the barrel <NUM>. Specifically, the plunger <NUM> is disposed in the nose tube bore <NUM> and is configured to slide relative to the nose tube <NUM> in the nose tube bore <NUM>. The engaging members <NUM>, e.g., balls, are disposed between the plunger <NUM> and the barrel <NUM> and the engagement members <NUM> contact the plunger <NUM>. The plunger <NUM> defines a tapering surface <NUM> receiving the engaging members <NUM>. The biasing device <NUM> abuts the plunger <NUM> between the bearing <NUM> and the plunger <NUM>. In the alternative to the plunger <NUM>, the barrel <NUM> and the biasing device <NUM> can be configured to be in direct contact.

With continued reference to <FIG>, the nose tube <NUM> defines a groove <NUM>, i.e., a recess <NUM>, near the distal end <NUM> of the nose tube <NUM> that extends circumferentially about the nose tube <NUM>. With reference to <FIG>, the groove <NUM> is defined in part by a ramped surface <NUM> that tapers away from the nose tube axis N. A sloped surface <NUM> extends from the ramped surface <NUM> toward the distal end of the nose tube <NUM> and tapers toward the nose tube axis N. When in the extended position, the barrel <NUM> is typically adjacent the groove <NUM>, i.e., aligned at least in part with the groove <NUM> along the nose tube axis N and disposed radially about at least a portion of the groove <NUM>.

With the use of the axial connector <NUM>, the cutting accessory <NUM> can be engaged with the end effector <NUM> without the use of a tool <NUM>, i.e., merely with the use of a hand of a human operator. The assembly of the cutting tool <NUM> to the end effector <NUM> can be a one-handed operation, i.e., accomplished with the use of a single hand of the human operator. The cutting tool <NUM> is assembled to the end effector <NUM> by inserting the cutting tool <NUM> into the nose tube bore <NUM> and exerting pressure on the cutting tool <NUM> along the nose tube bore <NUM> toward the nose tube <NUM> to engage the cutting tool <NUM> with the axial connector <NUM>.

Specifically, to assemble the cutting accessory <NUM> to the end effector <NUM>, the shaft <NUM> of the tool <NUM> is inserted into the nose tube bore <NUM>. As the shaft <NUM> is moved along the nose tube bore <NUM>, the shaft <NUM> is received by the bearing(s) <NUM> in the nose tube bore <NUM>. As set forth above, the fingers <NUM> of the shroud <NUM> are flexible relative to the body portion <NUM> of the shroud <NUM>. Typically, the fingers <NUM> slide along the sloped surface <NUM> and deform outwardly relative to the tool axis T along the sloped surface <NUM> as the shroud <NUM> approaches the barrel <NUM>.

As the shaft is moved along the nose tube bore <NUM>, the tips <NUM> of the fingers <NUM> abut the barrel <NUM> and push the barrel <NUM> toward the retracted position. Specifically, the fingers <NUM> and the barrel <NUM> include opposing surfaces <NUM> that oppose each other along the nose tube axis N as the cutting accessory <NUM> is engaged with the nose tube <NUM>. The opposing surfaces <NUM> are typically ramped. For example, the opposing surface <NUM> of each finger <NUM> is a ramped surface tapering radially inwardly in a direction from the first end <NUM> of the shroud <NUM> toward the second end <NUM> of the shroud <NUM> for contacting the nose tube <NUM> and flexing the fingers <NUM> during engagement of the cutting accessory <NUM> with the nose tube <NUM>. The opposing surface <NUM> of each finger <NUM> terminates at the second end <NUM> of the shroud <NUM>.

When the tips <NUM> of the fingers <NUM> reach the groove <NUM>, the tips <NUM> move inwardly toward the tool axis T into the groove <NUM> in the nose tube <NUM> and the barrel <NUM> returns to the extended position to lock the cutting accessory <NUM> to the nose tube <NUM>. In other words, the axial connector <NUM> engages the fingers <NUM> when the cutting accessory <NUM> is engaged with the nose tube <NUM> and the axial connector <NUM> is in the extended position.

The fingers <NUM> each define a protrusion <NUM>, as shown in <FIG>, for example, configured to engage the groove <NUM>. The fingers <NUM> are typically configured to resiliently deform outwardly along the sloped surface <NUM> such that the fingers <NUM> spring toward the pre-deformed shape into the groove <NUM>. In addition or in the alternative, the barrel <NUM> deforms the fingers <NUM> into the groove <NUM> as the tips <NUM> contact and slide along the barrel <NUM>.

When the cutting accessory <NUM> is engaged with the end effector <NUM>, the bearing <NUM> of the cutting accessory <NUM> abuts the distal end <NUM> of the nose tube <NUM>. The axial connector <NUM> is configured to engage the cutting accessory <NUM> when the bearing <NUM> of the cutting accessory <NUM> abuts the distal end <NUM> of the nose tube <NUM>. The snapping of the tips <NUM> of the fingers <NUM> into the groove <NUM> provides a tactile confirmation that the cutting accessory <NUM> is properly placed in a position for the axial connector <NUM> to engage the cutting accessory <NUM> to the nose tube <NUM>, i.e., confirms that the bearing <NUM> abuts the distal end <NUM> of the nose tube <NUM>. In other words, the operator confirms that the cutting accessory <NUM> is properly located relative to the end effector <NUM> for engagement by the axial connector <NUM> when the operator feels, sees, and/or hears the tips <NUM> of the fingers <NUM> enter the groove <NUM>. The fingers <NUM>, the sloped surface <NUM> of the nose tube <NUM>, and the barrel <NUM> are configured to draw the bearing <NUM> against the distal end <NUM> of the nose tube <NUM> when the cutting accessory <NUM> is engaged with the end effector <NUM>, i.e., when tips <NUM> of the fingers <NUM> are engaged with between the sloped surface <NUM> of the nose tube <NUM> and the barrel <NUM>.

When the tips <NUM> of the fingers <NUM> are in the groove <NUM>, the biasing device <NUM> biases the barrel <NUM> to the extended position absent extraneous force applied to the barrel <NUM>. When the tips <NUM> of the fingers <NUM> are in the groove <NUM> and the barrel <NUM> is in the extended position, the barrel <NUM> pinches the fingers <NUM> against the ramped surface <NUM> of the nose tube <NUM> to lock the shroud <NUM> to the nose tube <NUM>.

To release the cutting tool <NUM> from the end effector <NUM>, the barrel <NUM> is moved toward the retracted position to release the tips <NUM> of the fingers <NUM> from the groove <NUM>. Typically, the barrel <NUM> is moved toward the retracted position by a human operator who exerts force on the barrel <NUM> toward the retracted position. The barrel <NUM> and the nose tube <NUM> define opposing surfaces <NUM> configured to abut each other when the barrel <NUM> is moved to the retracted position.

With the barrel <NUM> in the retracted position, the cutting tool <NUM> can be moved along the nose tube axis N away from the nose tube <NUM>. Typically, the fingers <NUM> are configured to remain in the groove <NUM> when the barrel <NUM> is in the retracted position and, as the cutting tool <NUM> is moved away from the nose tube <NUM>, the fingers <NUM> resiliently deform away from the tool axis T as the tips <NUM> of the fingers <NUM> slide along the ramped surface <NUM>.

As set forth above, the guard <NUM> is configured to engage and disengage the cutting accessory <NUM> with the end effector <NUM>. Specifically, the guard <NUM> is configured to actuate the barrel <NUM>. In other words, the guard <NUM> is configured to move the barrel <NUM> to the retracted position to engage and disengage the cutting accessory <NUM> with the nose tube <NUM>.

With reference to <FIG>, the guard <NUM> includes an outer member <NUM> and an inner member <NUM> slideably engaged with the outer member <NUM>. Specifically, the outer member <NUM> defines a bore <NUM> and slideably receives the inner member <NUM> in the bore <NUM>. The inner member <NUM> is slideable in the bore <NUM> between an extended position, as shown in <FIG>, and a compressed position, as shown in <FIG>.

With reference to <FIG>, the outer member <NUM> includes a body <NUM> and flexible tangs <NUM> flexibly connected to the body <NUM>. The flexible tangs <NUM> support barbs <NUM> that extend into the bore <NUM>. The inner member <NUM> defines slots <NUM> that receive the barbs <NUM>.

With reference to <FIG>, the inner member <NUM> includes a body <NUM> and flexible tangs <NUM> flexibly connected to the body <NUM>. The flexible tangs <NUM> support barbs <NUM>. The inner member <NUM> defines an interior ledge <NUM> that is, for example, frusto-conical in shape. The inner member <NUM> can include a finger grip <NUM>.

With reference to <FIG> and <FIG>, the guard <NUM> receives the cutting accessory <NUM>. As set forth above, the guard <NUM> covers the cutting tip <NUM> of the cutting accessory <NUM> to aid in the handling of the cutting accessory <NUM>.

When the cutting accessory <NUM> is disposed in the guard <NUM>, the shroud <NUM> of the cutting accessory <NUM> abuts the ledge <NUM>. The shroud <NUM> defines a groove <NUM> that receives the tangs <NUM> of the inner member <NUM>.

When the guard <NUM> receives the cutting accessory <NUM> such that the shroud <NUM> abuts the ledge <NUM>, the operator can use the inner member <NUM> to engage the cutting accessory <NUM> with the axial connector <NUM>. Specifically, with the shaft <NUM> of the cutting accessory <NUM> in the nose tube bore <NUM>, the user can exert force on the inner member <NUM> toward the nose tube <NUM> along the nose tube axis T such that the ledge <NUM> of the guard <NUM> forces the shroud <NUM> into engagement with the axial connector <NUM>. Once the shroud <NUM> is engaged with the axial connector <NUM>, the guard <NUM> can be removed from the cutting accessory <NUM> by exerting force on the guard <NUM> away from the nose tube <NUM> along the nose tube axis T.

To disengage the cutting accessory <NUM> from the axial connector <NUM>, e.g., after a surgical procedure, the guard <NUM> is placed on the cutting accessory <NUM> with the ledge <NUM> abutting the shroud <NUM>. In such a configuration, the tangs <NUM> of the outer member <NUM> engage a groove <NUM> on the barrel <NUM>. The outer member <NUM> is then moved relative to the inner member <NUM> to the compressed position, as shown in <FIG>, to move the barrel <NUM> to the retracted position.

Specifically, the operator grasps the inner member <NUM> with one hand and grasps the outer member <NUM> with the other hand. The operator then moves the outer member <NUM> relative to the inner member <NUM> along the nose tube axis N. This movement, as shown in <FIG>, forces the tangs <NUM> of the outer member <NUM> against the groove <NUM> of the barrel <NUM> to force the barrel <NUM> to the retracted position to release the cutting accessory <NUM> from the nose tube <NUM>.

As set forth above, when the guard <NUM> is disposed on the cutting accessory <NUM>, the tangs <NUM> of the inner member <NUM> frictionally engage the shroud <NUM>. With the outer member <NUM> moved to the compressed position, as shown in <FIG>, the outer member <NUM> and inner member <NUM> are moved along the nose tube axis N away from the nose tube <NUM> to remove the cutting accessory <NUM> from the nose tube <NUM>. During this movement, the frictional engagement between the tangs <NUM> and the shroud <NUM> retains the cutting accessory <NUM> attached to the guard <NUM> as the guard <NUM> is moved away from the nose tube <NUM>.

As set forth above, the axial connector <NUM> shown in <FIG> receives the cutting accessory <NUM> including the shroud <NUM>. The axial connector <NUM> is supported on a guide portion <NUM> of the nose tube <NUM>. The axial connector <NUM> includes fingers <NUM> supported by the guide portion <NUM> and a barrel <NUM> that is rotatable about the nose tube axis T to lock and unlock the fingers <NUM> radially relative to the guide portion <NUM>, as set forth further below.

Specifically, with reference to <FIG> and <FIG>, the axial connector <NUM> includes a locking member <NUM> that includes a ring <NUM> and the fingers <NUM> extending from the ring <NUM>. The fingers <NUM> each include a protrusion <NUM>. While <FIG> and <FIG> show the locking member <NUM> including two fingers <NUM>, the locking member <NUM> can include any suitable number of fingers <NUM> without departing from the nature of the present invention.

With reference to <FIG>, <FIG>, the guide portion <NUM> receives the lock collar <NUM>. The guide portion <NUM> defines a pair of slots <NUM>, as shown in <FIG> and <FIG>, and the protrusions <NUM> of each of the fingers <NUM> are positioned to extend through the slots <NUM>, respectively, as shown in <FIG> and <FIG>. The fingers <NUM> bias the protrusions <NUM> to extend through the slots <NUM>.

With reference to <FIG>, the lock collar <NUM> is disposed in the guide portion <NUM> and is positioned radially inwardly of the fingers <NUM>. The lock collar <NUM> includes a wall <NUM>, typically cylindrical, that defines cutouts <NUM> spaced circumferentially about the wall <NUM> for receiving the protrusions <NUM> of the fingers <NUM>, as set forth further below.

The barrel <NUM> is supported on the guide portion <NUM> and engages the lock collar <NUM> through the guide portion <NUM>. Specifically, as best shown in <FIG>, balls <NUM> extend through slots <NUM> in the guide portion <NUM> and engage the barrel <NUM> and the lock collar <NUM>. As best shown in <FIG>, <FIG>, and <FIG>, the barrel <NUM> defines dimples <NUM> that receive the balls <NUM>. With reference to <FIG> and <FIG> the lock collar <NUM> defines grooves <NUM> that receive the balls <NUM>. While <FIG> and <FIG> show the two balls <NUM>, the lock collar <NUM> can include any suitable number of balls <NUM> without departing from the nature of the present invention.

The barrel <NUM> is rotatable about the nose tube axis N between an unlocked position, as shown in <FIG>, and a locked position (not shown). The lock collar <NUM> moves with the barrel <NUM> between the locked position and the unlocked position. In the unlocked position, the barrel <NUM> is positioned to align the cutouts <NUM> of the lock collar <NUM> with the fingers <NUM> to allow the fingers <NUM> to resiliently move radially inwardly in response to forces on the protrusions <NUM>. In the locked position, the barrel <NUM> is positioned to align the wall <NUM> of the lock collar <NUM> with the fingers <NUM>. In such a position, the wall <NUM> prevents the fingers <NUM> from moving radially inwardly in response to forces on the protrusions <NUM>, i.e., locking the fingers <NUM> in place.

With reference to <FIG>, the cutting accessory <NUM> is attached to the nose tube <NUM> by inserting the shaft <NUM> of the cutting accessory <NUM> into the nose tube bore <NUM> and along the nose tube axis N. With the barrel <NUM> in the unlocked position, i.e., with the cutouts <NUM> of the lock collar <NUM> aligned with the fingers <NUM>, the shroud <NUM> of the cutting accessory <NUM> depresses the protrusions <NUM> of the fingers <NUM> radially inwardly when the shroud <NUM> reaches the protrusions. Since the shroud <NUM> depresses the fingers <NUM> radially inwardly, the cutting accessory <NUM> can be seated against the nose tube <NUM>, as shown in <FIG>. Specifically, the bearing <NUM> of the cutting accessory <NUM> abuts the distal end <NUM> of the nose tube <NUM> when the cutting accessory <NUM> is seated against the nose tube <NUM>.

When the cutting accessory <NUM> is seated against the nose tube <NUM>, the fingers <NUM> are resiliently biased through the slot <NUM> of the guide portion <NUM> and into engagement with the groove <NUM> of the shroud <NUM>, for example, as shown in <FIG>. When the cutting accessory <NUM> is seated against the nose tube <NUM>, the barrel <NUM> is rotated to the locked position, i.e., to align the wall <NUM> of the lock collar <NUM> with the fingers <NUM> to prevent the fingers <NUM> from being depressed radially inwardly. In such a position, the axial connector <NUM> axially locks the cutting accessory <NUM> to the nose tube.

When the cutting accessory <NUM> is to be disassembled from the nose tube <NUM>, the barrel <NUM> is rotated to the unlocked position, i.e., to align the cutouts <NUM> of the lock collar <NUM> with the fingers <NUM>. In such a position, when the cutting accessory <NUM> is pulled from the nose tube <NUM>, the shroud <NUM> of the cutting accessory <NUM> depresses the fingers <NUM> radially inwardly into the cutouts <NUM> to allow the cutting accessory <NUM> to be removed from the nose tube <NUM>.

With reference to <FIG>, the guide portion <NUM> and the lock collar <NUM> are configured to provide haptic feeback identifying the locked position and unlocked position of the barrel <NUM>. Specifically, the slots <NUM> of the guide portion <NUM> define detents <NUM> and the groove <NUM> of the lock collar <NUM> has a shallow portion <NUM> and a deep portion <NUM>. A flat <NUM> is positioned between the detents <NUM> of the slot <NUM>. A spring <NUM> is disposed in the guide portion <NUM> between the guide portion <NUM> and the lock collar <NUM> and biases the balls <NUM> into the detents <NUM> and the shallow portions <NUM>.

In particular, when the barrel <NUM> is in the unlocked position, the ball <NUM> is disposed one of the detents <NUM>. As the barrel <NUM> is rotated toward the locked position, the flat <NUM> forces the lock collar <NUM> against the spring <NUM>. When the ball <NUM> reaches the other detent <NUM>, the spring forces the ball <NUM> to enter the other detent <NUM>. The interaction of the balls <NUM> with the detents <NUM> provides a haptic feedback and also resiliently retains the barrel <NUM> in the selected unlocked position or locked position.

With reference to <FIG>, the cutting tool <NUM> includes a drive system <NUM> for driving the cutting accessory <NUM>. The drive system <NUM> shown in the Figures is configured to impart rotational movement to the cutting accessory <NUM>, e.g., to rotate the bur. Alternatively, the drive system <NUM> can be configured to impart any type of movement to the cutting accessory <NUM> such as, for example, oscillating translation for a reciprocating saw, pinching movement for opposing blades, translation for a needle/catheter, etc..

The drive system <NUM> includes a drive member <NUM>, e.g., a rotational drive member <NUM>, supported by the nose tube <NUM>, an actuator <NUM> coupled to the drive member <NUM>, and the drive connector <NUM> coupled to the drive member <NUM> for rotationally engaging the cutting accessory <NUM>. The drive member <NUM> shown in the Figures is rotatably supported in the nose tube <NUM>. Specifically, a bearing <NUM> is disposed between the drive member <NUM> and the nose tube <NUM> and the bearing <NUM> rotatably supports the drive member <NUM> in the nose tube <NUM>. With reference to <FIG>, the drive member <NUM> defines a bearing surface <NUM> for receiving the bearing <NUM>. As set forth further below, the actuator <NUM> is coupled to the drive member <NUM> to rotate the drive member <NUM>. Specifically, the actuator <NUM> is coupled to the drive connector <NUM> to rotate the drive connector <NUM> relative to the nose tube <NUM>.

The drive connector <NUM> is supported by the nose tube <NUM> and receives the cutting accessory <NUM> for rotatably driving the cutting accessory <NUM>. The drive connector <NUM> defines a bore <NUM> extending along the nose tube axis N and receiving the cutting accessory <NUM>.

With reference to <FIG>, the drive connector <NUM> includes a wedge sleeve <NUM> and a clutch assembly <NUM> disposed in the wedge sleeve <NUM>. The axial connector <NUM> is spaced from the clutch assembly <NUM>. Specifically, the axial connector <NUM> is disposed between the clutch assembly <NUM> and the cutting tip <NUM> of the cutting accessory <NUM>.

The clutch assembly <NUM> is configured to slideably receive the shaft <NUM> of the tool <NUM> along the nose tube axis N. The clutch assembly <NUM> is supported by and rotatable relative to the drive member <NUM> and receives the shaft <NUM> of the cutting accessory <NUM> along the nose tube axis N for selectively locking the shaft <NUM> to the drive member <NUM>. Specifically, the shaft <NUM> is slideable into the clutch assembly <NUM> to engage the tool <NUM> with the clutch assembly <NUM> and is slideable out of the clutch assembly <NUM> to disengage the tool <NUM> from the clutch assembly <NUM>.

The wedge sleeve <NUM> and the clutch assembly <NUM> are configured to frictionally lock the drive member <NUM> to the shaft <NUM> of the cutting accessory <NUM> to transmit rotation from the drive member <NUM> to the shaft <NUM>. The clutch assembly <NUM> allows for use of a relatively short shaft <NUM> on the cutting accessory <NUM>. Such use of a relatively short shaft <NUM> of the cutting accessory <NUM> increases stiffness of the cutting accessory <NUM>, increases surgical access, and is more economical based on use of less material.

With reference to <FIG>, the clutch assembly <NUM> includes a cage <NUM> defining a bore and a plurality of slots <NUM> spaced circumferentially about the cage <NUM> in communication with the bore. Rollers <NUM> are disposed in each of the slots <NUM>. The cage <NUM> defines a pair of spaced edges <NUM> defining each slot <NUM> and the roller <NUM> abuts both of the pair of edges <NUM>. The rollers <NUM> extend through the slot into the bore. The rollers <NUM> are spaced from each other and receive the shaft <NUM> therebetween.

The rollers <NUM> are radially moveable relative to the cage <NUM>. A spring <NUM> extends around the rollers <NUM> and the cage <NUM> to retain the rollers <NUM> in the slots <NUM> of the cage <NUM> and to urge the rollers <NUM> in contact with the edges <NUM>. The rollers <NUM>, for example, define a neck <NUM> for receiving the spring <NUM>. The clutch assembly <NUM> shown in <FIG> includes six slots <NUM> and six rollers <NUM>, however, the clutch assembly <NUM> can include any number of slots <NUM> and corresponding rollers <NUM>. The shaft <NUM> of the cutting accessory <NUM> contacts each of the rollers <NUM> when the shaft <NUM> is disposed the clutch assembly <NUM>.

With reference to <FIG>, the drive member <NUM>, for example, engages a socket <NUM> and the clutch assembly <NUM> is retained between the drive member <NUM> and the socket <NUM>. The socket <NUM>, for example, defines a lip <NUM> and the drive member <NUM> includes an end <NUM>. The lip <NUM> and the end <NUM> define a cavity <NUM> therebetween and the clutch assembly <NUM> is disposed in the cavity <NUM>, as shown in <FIG>. A bearing <NUM> is disposed between the socket <NUM> and the nose tube <NUM> and the bearing <NUM> rotatably supports the socket <NUM> in the nose tube <NUM>. With reference to <FIG>, socket <NUM> defines a bearing surface <NUM> for receiving the bearing <NUM>.

The drive connector <NUM> includes an interior wall <NUM> that receives the clutch assembly <NUM> and is configured to selectively bias the rollers <NUM> against the shaft <NUM>. Specifically, the wedge sleeve <NUM> defines the interior wall <NUM>. The wedge sleeve <NUM>, shown in isolation in <FIG>, is disposed between the drive member <NUM> and the socket <NUM>, as shown in <FIG>, and is fixed to the drive member <NUM>. The wedge sleeve <NUM> is fixed to the drive member <NUM> in any fashion such as, for example, press-fit, welding, adhering, pinning, etc..

With reference to <FIG> and <FIG>, the wedge sleeve <NUM> defines a bore <NUM> and presents contact surfaces <NUM> disposed circumferentially about the bore <NUM>. The contact surfaces <NUM> shown in <FIG> and <FIG> are facets, i.e., planar. Alternatively, the contact surfaces <NUM> can have any shape sufficient to pinch the rollers <NUM> between the contact surfaces <NUM> and the shaft <NUM> of the tool <NUM> when the wedge sleeve <NUM> rotates relative to the clutch assembly <NUM>. For example, the contact surfaces <NUM> can be arced about the nose tube axis N. The wedge sleeve <NUM> of <FIG> and <FIG> includes twelve contact surfaces <NUM>, i.e., is a dodecagon. Alternatively, the wedge sleeve <NUM> can include any number of contact surfaces <NUM>.

The contact surfaces <NUM> are configured to contact the rollers <NUM> when the wedge sleeve <NUM> rotates relative to the clutch assembly <NUM>. The rollers <NUM> are spaced from the contact surfaces <NUM> before the shaft <NUM> of the tool <NUM> is inserted into the clutch assembly <NUM>, as shown in <FIG>. As shown in <FIG>, the rollers <NUM> remain spaced from the contact surfaces <NUM> when the shaft <NUM> is initially inserted into the clutch assembly <NUM>. When the clutch assembly <NUM> rotates relative to the wedge sleeve <NUM>, the rollers <NUM> rotationally lock the shaft <NUM> of the tool <NUM> to the drive system <NUM>, as shown in <FIG>.

For example, when the actuator <NUM> drives the drive member <NUM>, the drive member <NUM> rotates the wedge sleeve <NUM> relative to the clutch assembly <NUM>. As the wedge sleeve <NUM> rotates relative to the clutch assembly <NUM>, the contact surfaces <NUM> contact the rollers <NUM> and pinch the rollers <NUM> between the contact surfaces <NUM> and the shaft <NUM> of the tool <NUM> to rotationally lock the shaft <NUM> of the tool <NUM> to the drive member <NUM>. In other words, the contact surfaces <NUM> cause the rollers <NUM> to frictionally engage the shaft <NUM> of the tool <NUM>. The clutch assembly <NUM> is self-engaging and self-releasing. The operator merely inserts the shaft <NUM> along the nose axis N into engagement with the clutch assembly <NUM> to engage the shaft with the clutch assembly <NUM>, i.e., no twisting is necessary. As set forth above, the axial connector <NUM> retains the cutting accessory <NUM> to the nose tube <NUM> axially along the nose tube axis N.

The clutch assembly <NUM> is configured to releasably engage the cylindrical outer surface <NUM> of the shaft <NUM> of the tool <NUM>. Specifically, the shaft <NUM> presents the outer surface <NUM> having a cylindrical cross-section that releasably engages the drive connector <NUM>. The outer surface <NUM> typically has a constant outer diameter extending from the shroud <NUM> to the free end <NUM>. In other words, the clutch assembly <NUM> does not require that the shaft <NUM> of the tool <NUM> have flats or other features designed to transfer rotational movement to the shaft <NUM>. The clutch assembly <NUM> is engageable with any portion of the shaft <NUM> that is cylindrical. The shaft <NUM> is typically cylindrical between the proximal end <NUM> and the distal end <NUM>, i.e., along the entire length of the shaft <NUM>, such that particular alignment of the shaft <NUM> along the nose tube axis N is not required to engage the shaft <NUM> with the clutch assembly <NUM>. In other words, the shaft <NUM> engages the clutch assembly <NUM> without the need of aligning specific features on the shaft <NUM> in a particular location along the nose tube axis N.

The drive system, including the drive member <NUM>, the wedge sleeve <NUM>, and the clutch assembly <NUM>, enables the use of a cutting accessory <NUM> having high rigidity, decreases interference with the line of sight by the cutting accessory <NUM>, increases surgical sight access by reducing bulk at the end of the nose tube <NUM>, and allows for precise axial positioning, e.g., when used with the axial connector <NUM>.

The use of drive system <NUM>, and specifically the drive member <NUM>, the wedge sleeve <NUM>, and the clutch assembly <NUM>, is not limited to the end effector <NUM>. In other words, the drive system <NUM> can be implemented on any type of device. For example, a hand-held power tool (not shown) can include the drive system <NUM>. The hand-held power tool can be, for example, a surgical hand-held power tool.

The drive system <NUM> is not limited to use with irrigated cutting accessories. For example, the drive system <NUM> can be used to couple to solid cutting tools. One such type of cutting tool could include, for example, a shaft having a <NUM> diameter.

The end effector <NUM> and the cutting accessory <NUM> define a liquid delivery path L for delivering liquid through the end effector <NUM> and the cutting accessory <NUM> to the surgical site. One embodiment of the liquid delivery path L is shown in <FIG> and another embodiment of the liquid delivery path L is shown in <FIG>. A bore <NUM>, i.e., a lumen <NUM>, of the drive member <NUM>, the bore of the tool <NUM>, and the ports of the cutting head <NUM> define the liquid delivery path L.

With reference to <FIG>, the drive member <NUM> includes a nipple <NUM> for receiving the liquid, as discussed further below. The drive member <NUM> defines the bore <NUM> extending from the nipple <NUM> along the tool axis T and through the drive member <NUM>. As set forth above, the drive member <NUM> receives the shaft <NUM> of the cutting accessory <NUM> in the bore <NUM> of the drive member <NUM>, i.e., is releasably engaged with the cutting accessory <NUM>, and the drive member <NUM> delivers the liquid from the nipple <NUM> to the shaft <NUM>. During cutting, the liquid can be delivered into the bore <NUM> of the drive member <NUM> at the nipple <NUM> and the liquid flows through the bore <NUM> of the drive member <NUM>, through the bore <NUM> of the shaft <NUM>, and out of the ports <NUM> of the cutting head <NUM> onto the surgical site.

With reference to <FIG>, a static seal <NUM>, also referred to as a first seal herein, is disposed in the bore of the drive member <NUM> and the static seal <NUM> seals between the drive member <NUM> and the cutting accessory <NUM> when the cutting accessory <NUM> is received in the bore of the drive member <NUM> to prevent the liquid from leaking between the drive member <NUM> and the shaft <NUM> of the cutting accessory <NUM>.

The static seal <NUM> defines a bore <NUM> and the static seal <NUM> is configured to seal to the exterior of the shaft <NUM> of the tool <NUM> when the shaft <NUM> is inserted into the bore <NUM>. With reference to <FIG>, the drive member <NUM> defines a pocket <NUM> receiving the static seal <NUM>. The static seal <NUM> slideably receives the cutting accessory <NUM> in the bore <NUM> along the nose tube axis N. Specifically, the drive member <NUM> defines the pocket <NUM>. The static seal <NUM> is rotationally fixed to the drive member <NUM> and the cutting accessory <NUM> for sealing between the drive member <NUM> and the cutting accessory <NUM>.

The static seal <NUM> is "static" in that the drive member <NUM> and the shaft <NUM> of the cutting accessory <NUM> are move together as a unit and the static seal <NUM> statically seals between the drive member <NUM> and the cutting accessory <NUM>. The static seal <NUM>, for example, is a high temperature elastomeric material such as, for example, silicone or Viton®, that is autoclave compatible.

With reference to <FIG> and <FIG>, the end effector <NUM> includes a cartridge <NUM>, i.e., a fluid delivery member, coupled configured to be coupled to the drive member <NUM> for delivering fluid to the bore <NUM> of the drive member <NUM>. The cartridge <NUM> is removably engageable with the drive member <NUM>. Specifically, the cartridge <NUM> is configured to removably connect to the nipple <NUM>. The cartridge <NUM> is configured to deliver liquid, electricity, and/or data communication to the rest of the end effector <NUM>. For example, when the cartridge <NUM> is connected to the nipple <NUM>, the cartridge <NUM> is in communication with the liquid delivery path L for delivering liquid to the liquid delivery path L.

With continued reference to <FIG>, a housing <NUM> is attached to the nose tube <NUM> and defines a cavity <NUM> that removably receives the cartridge <NUM>. The cartridge <NUM> and the cavity <NUM> are, for example, configured such that the cartridge <NUM> is retained in the cavity <NUM> by a friction fit. Alternatively, or in addition, the cartridge <NUM> and the cavity <NUM> can include any type of feature for selectively retaining the cartridge <NUM> in the cavity <NUM>.

The cartridge <NUM>, for example, engages the nipple <NUM> of the drive member <NUM> for delivering liquid to the bore <NUM> of the drive member <NUM>. The cartridge <NUM> is connected to a source of liquid (not shown) and the source of liquid delivers liquid to the cartridge <NUM>. The source of liquid, for example, is a peristaltic pump controlled by the manipulator controller <NUM>. Tubing (not shown) typically connects the cartridge <NUM> to the source of liquid.

With reference to <FIG>, the cartridge <NUM> includes a dynamic seal <NUM>, also referred to as a second seal herein, for connecting to the nipple <NUM> of the drive member <NUM>. The dynamic seal <NUM> defines a bore <NUM> that receives the nipple <NUM>. When the cartridge <NUM> is coupled to the drive member <NUM>, the dynamic seal <NUM> is disposed around the nipple <NUM> between the nipple <NUM> and the cartridge <NUM>. The dynamic seal <NUM> is, for example, Teflon® infused polyamide.

The dynamic seal <NUM> rotatably engages at least one of the drive member <NUM> and the cartridge <NUM> for sealing between the drive member <NUM> and the cartridge <NUM> during relative rotation therebetween. The dynamic seal <NUM> typically remains stationary relative to the cartridge <NUM> and the nipple <NUM> rotates relative to the dynamic seal <NUM> when the drive member <NUM> rotates. The dynamic seal <NUM> is configured to seal to between the nipple <NUM> and the cartridge <NUM> when the nipple <NUM> rotates relative to the cartridge <NUM>. Typically, the dynamic seal <NUM> is retained in the cartridge <NUM>, i.e., when dynamic seal <NUM> moves with the cartridge <NUM> when the cartridge <NUM> is uncoupled from the drive member <NUM>.

The drive member <NUM> extends along the nose tube axis N. The static seal <NUM> extends about the nose tube axis N. The dynamic seal <NUM> extends about the nose tube axis N when the cartridge <NUM> is coupled to the drive member <NUM>. The static seal <NUM> and the dynamic seal <NUM> are spaced from each other along the nose tube axis N when the cartridge is coupled to the drive member <NUM>. The static seal <NUM> is disposed along the axis between the drive connector <NUM> and the dynamic seal <NUM>.

The cartridge <NUM>, for example, includes data communication connectors (not shown) and the housing <NUM> supports corresponding data communication connectors (not shown) for transferring data to and from the end effector <NUM>. For example, the end effector <NUM> can transfer data from a NVRAM chip or an RFID reader to the manipulator controller <NUM>, as discussed further below. A flex circuit, for example, is connected to the data communication connector of the cartridge <NUM> for transferring data to and from the data communication connector. The flex circuit, for example, can be coupled to and extend along at least a portion of the tubing and/or wiring. The data communication connectors of the cartridge <NUM> and the corresponding data communication connectors of the housing can be any type of data communication connectors such as pins/corresponding sockets, plugs/receptacles, etc..

Alternatively, in the embodiment shown in <FIG>, the shaft <NUM> of the cutting accessory <NUM> extends through the drive connector <NUM> to the dynamic seal <NUM> of the cartridge <NUM>. Such a configuration eliminates the need for a static seal.

With reference to <FIG> and <FIG>, the end effector <NUM> includes a handle <NUM> rotatably coupled to the nose tube <NUM>. The handle <NUM> is rotatably supported by the nose tube <NUM> about the nose tube axis N. The handle <NUM> defines a bore <NUM> that receives the nose tube <NUM>. The handle <NUM> is grasped by the hand of an operator to move the end effector <NUM> with the use of the force-torque sensor <NUM> as discussed above. The handle <NUM> typically has an ergonomic shape for matching the contour of the hand of the operator. The handle <NUM> in <FIG> is selectively lockable with the nose tube <NUM> to selectively prevent rotation of the handle <NUM> relative to the nose tube <NUM> about the nose tube axis N. The handle <NUM> in <FIG> is freely rotatable about the nose tube <NUM> at all times.

With reference to <FIG>, a sleeve <NUM> is coupled to the nose tube <NUM> and defines threads <NUM> concentric with the nose tube axis N. The sleeve <NUM> is axially fixed along the nose tube axis N relative to the nose tube <NUM>.

With reference to <FIG> and <FIG>, the handle <NUM> includes an inner surface <NUM> defines threads <NUM> engaging the groove <NUM> of the sleeve <NUM> to couple the handle <NUM> to nose tube <NUM>. The sleeve <NUM> is typically disposed at the distal end <NUM> of the nose tube <NUM> and alternatively, can be disposed at any position along the nose tube <NUM>. A bushing <NUM> is disposed between the nose tube <NUM> and the sleeve <NUM> and is rotatable relative to at least one of the nose tube <NUM> and the sleeve <NUM>.

With reference to <FIG>, a bushing <NUM> is disposed between the nose tube <NUM> and the handle <NUM> for rotatably coupling the handle <NUM> to the nose tube <NUM>. The bushing <NUM> is spaced from the sleeve <NUM> and is typically disposed along the nose tube <NUM> between the sleeve <NUM> and the distal end <NUM> of the nose tube <NUM>. The inner surface <NUM> of the handle <NUM> engages the bushing <NUM>. The bushing <NUM>, for example, is fixed to the nose tube <NUM>, e.g., by friction fit, and the inner surface <NUM> of the handle <NUM> rotatably engages the bushing <NUM>. Alternatively, for example, the bushing <NUM> is fixed to the inner surface <NUM> of the handle <NUM>, e.g., by friction fit, and the bushing <NUM> rotatably engages the nose tube <NUM>.

The handle <NUM> provides a passive sixth axis. In other words, movement can be transmitted from the hand of an operator to the handle <NUM> in five degrees of freedom (DOF) and the handle <NUM> is passive, i.e., does transmit movement, about a sixth degree of freedom, i.e., rotation about the nose tube axis N. In other words, any torque applied to the handle <NUM> rotates the handle <NUM> relative to the nose tube <NUM>. With reference to <FIG>, the handle <NUM> transmits movement to the rest of the end effector <NUM>, e.g., the nose tube <NUM>, in translation along the x-axis, y-axis, and z-axis and in rotation about the x-axis and the y-axis. The handle <NUM> is passive, i.e., does not transmit movement to the nose tube <NUM>, in rotation about the z-axis.

With reference to <FIG>, the handle <NUM> and the nose tube <NUM> define locking features <NUM> for selectively locking the handle <NUM> to the nose tube <NUM>. For example, the nose tube <NUM> defines teeth <NUM> extending circumferentially about the nose tube <NUM> and the handle <NUM> includes a locking member <NUM> for engaging the teeth <NUM> to rotationally lock the handle <NUM> to the nose tube <NUM>. The nose tube <NUM> includes a circumferential ring <NUM>, for example, that presents the teeth <NUM>.

The locking member <NUM> is aligned with the teeth <NUM> along the nose tube axis N. The locking member <NUM>, for example, is a set screw threadedly engaged with a threaded access hole <NUM> in the handle <NUM>. The set screw can be threadedly advanced and retracted relative to the access hole <NUM> to engage and disengage the teeth <NUM>.

With reference to <FIG>, the end effector <NUM> includes a grip sensing mechanism <NUM>, <NUM>. One embodiment of the grip sensing mechanism <NUM> is shown in <FIG> and a second embodiment of the grip sensing mechanism <NUM> is shown in <FIG>. When the robot <NUM> is operated in manual mode, the grip sensing mechanism <NUM>, <NUM> is operable to prevent movement of and operation of the cutting accessory <NUM> when the grip sensing mechanism <NUM>, <NUM> is released by the operator, e.g., if the operator accidentally loses grip of the end effector <NUM>. In other words, during use, the manipulator <NUM> can move the cutting accessory <NUM> and the actuator <NUM> can be powered to drive the cutting accessory <NUM> as long as the operator continues to actuate the grip sensing mechanism <NUM>, <NUM>. If the operator releases the grip sensing mechanism <NUM>, <NUM>, the manipulator <NUM> does not move the cutting accessory <NUM> and operation of the actuator <NUM> is prevented. This ensures that the cutting accessory <NUM> is not moved or driven, e.g., does not rotate, unless a hand of an operator is gripping the handle <NUM> of the end effector <NUM>.

The grip sensing mechanism <NUM>, <NUM> is typically supported on the handle <NUM>. The grip sensing mechanism <NUM>, <NUM> is configured to be actuated when engaged by the hand of the operator when the operator grasps the handle <NUM>.

The grip sensing mechanism <NUM>, <NUM> includes a lever <NUM>, i.e., a trigger <NUM>, moveably mounted to the handle <NUM> and a sensor <NUM> that is actuated in response to movement of the lever <NUM>. In other words, the sensor <NUM> is supported by the nose tube <NUM> and is configured to identify the position of the lever <NUM> in the gripped position and the released position. With reference to <FIG>, the handle <NUM> defines a slot <NUM> and the lever <NUM> is disposed in the slot <NUM>.

With reference to <FIG> and <FIG>, the lever <NUM> is typically pivotably mounted to the handle <NUM> and is configured to be pivoted relative to the handle <NUM> when the operator grasps the handle <NUM>. For example, the lever <NUM> is supported by the nose tube <NUM>, e.g., pinned to the handle <NUM> with a pin <NUM>, and the lever <NUM> is rotatable about the pin <NUM> relative to the handle <NUM> between a depressed position and a released position. Alternatively, the lever <NUM> can, for example, be configured to be slideable along the handle <NUM> along the nose tube axis N, can be configured to be depressed relative to the handle <NUM> transversely to the nose tube axis N, etc..

The sensor <NUM> is in a first state in response to pivoting of the lever <NUM> relative to the handle <NUM> to the depressed position. In the first state, the sensor <NUM> indicates to the manipulator controller <NUM> that the manipulator <NUM> can move the end effector <NUM> and the actuator <NUM> can be operated to drive the cutting accessory <NUM>. The sensor <NUM> is in a second state in response to pivoting of the lever <NUM> relative to the handle <NUM> to the released position. In the second state, the sensor <NUM> indicates to the manipulator controller <NUM> that the manipulator <NUM> should not move the end effector <NUM> and that the actuator <NUM> cannot be operated to drive the cutting accessory <NUM>.

An activator <NUM> is typically coupled to the lever <NUM> to actuate the sensor <NUM> between the first state and the second state. The activator <NUM> is configured to communicate with the sensor <NUM> in response to movement of the lever <NUM> between the depressed position and the released position.

The activator <NUM> is operably coupled to the lever <NUM> such that actuation of the lever <NUM> results in movement of the activator <NUM>. For example, as set forth further below, the lever <NUM> is operably coupled to the activator <NUM> to translate the activator <NUM> relative to the sensor <NUM> in response to pivoting of the lever <NUM> relative to the handle <NUM>.

The sensor <NUM>, for example, is an inductive sensor and the activator <NUM>, for example, is a metal indicator. However, it should be appreciated that the sensor <NUM> could be of any type such as a Hall Effect sensor, a capacitive sensor, etc., and the activator can be of any suitable type. Actuation of the lever <NUM>, i.e., movement of the lever <NUM> to the depressed position, results in movement of the magnet relative to the Hall Effect sensor to actuate the Hall Effect sensor. Alternatively, the sensor <NUM> and activator <NUM> can be of any type such as, for example, a light sensor actuated by a light emitting diode (LED), a proximity sensor, etc..

With reference to <FIG> and <FIG>, the grip sensing mechanism <NUM>, <NUM> includes a sensor holder <NUM> supporting the sensor <NUM> and a carriage <NUM>, i.e., an activator holder <NUM>, supporting the activator <NUM>. The sensor holder <NUM> defines a cutout receiving the sensor <NUM> and the activator holder <NUM> defines a cutout receiving the activator <NUM>. At least one of the sensor holder <NUM> and the activator holder <NUM> is coupled to the lever <NUM> and is configured to move in response to actuation of the lever <NUM>.

With reference to <FIG>, the sensor holder <NUM> and the activator holder <NUM> are coupled to the nose tube <NUM> and at least one of the sensor holder <NUM> and the activator holder <NUM> is moveable relative to the other along the nose tube bore <NUM>. For example, with reference to <FIG> and <FIG>, the sensor holder <NUM> and the activator holder <NUM> each define a bore <NUM>, <NUM> that slideably receives the nose tube <NUM>. The sensor holder <NUM> is fixed to the nose tube <NUM> and the activator holder <NUM> is moveable relative to the nose tube <NUM> along nose tube bore <NUM> toward and away from the sensor holder <NUM>. Alternatively, the activator holder <NUM> is fixed to the nose tube <NUM> and the sensor holder <NUM> is moveable relative to the nose tube bore <NUM> toward and away from the activator holder <NUM> or both the activator holder <NUM> and the sensor holder <NUM> are moveable relative to the nose tube bore <NUM> toward and away from each other.

With reference to <FIG> and <FIG>, the activator holder <NUM> is moveable along the nose tube <NUM> toward the sensor holder <NUM> to a proximate position, as shown in <FIG>, <FIG>, <FIG>, and <FIG>, and away from the sensor holder <NUM> to a spaced position, as shown in <FIG>, <FIG>, <FIG>, and <FIG>. At least one biasing device <NUM> is disposed between the activator holder <NUM> and the sensor holder <NUM> for urging the activator holder <NUM> toward the spaced position. For example, as shown in the <FIG>, <FIG>, and <FIG>, three biasing devices <NUM> are disposed between the activator holder <NUM> and the sensor holder <NUM>. The biasing device <NUM> urges the activator holder <NUM> away from the sensor holder <NUM> along the nose tube axis N toward the spaced position. The biasing device <NUM> shown in <FIG> and <FIG> is a coil spring. Alternatively, the biasing device <NUM> can be any type of spring.

With continued reference to <FIG>, <FIG>, and <FIG>, a post <NUM> supports the biasing device <NUM> between the sensor holder <NUM> and the activator holder <NUM>. Specifically, for example, three posts <NUM> support the three biasing devices <NUM>. The biasing device <NUM> is disposed on the post <NUM> and is configured to be retained on the post <NUM> between the sensor holder <NUM> and the activator holder <NUM>. The post <NUM> extends between the sensor holder <NUM> and the activator holder <NUM> and at least one of the sensor holder <NUM> and the activator holder <NUM> slides along the post <NUM>. For example, the activator holder <NUM> defines a bore <NUM> that slideably receives the post <NUM>. The post <NUM> aligns the sensor holder <NUM> and the activator holder <NUM> about the nose tube axis N.

With reference to <FIG> and <FIG>, a push member <NUM> is pivotably coupled to the lever <NUM> and is coupled to the activator holder <NUM>. The push member <NUM> is configured to move the activator holder <NUM> toward the proximate position in response to actuation of the lever <NUM> to the depressed position. The lever <NUM> is pinned to the push member <NUM> with a pin <NUM> that extends through the lever <NUM> and the push member <NUM>. The push member <NUM> is pivotable relative to the lever <NUM> about the pin <NUM>.

With reference to <FIG> and <FIG>, a sleeve <NUM> slideably receives the nose tube <NUM> adjacent the activator holder <NUM>. The activator holder <NUM> is coupled to the lever <NUM> and is moveable relative to the sensor <NUM> along the nose tube axis N in response to movement of the lever <NUM> between the gripped position and the released position for indicating to the sensor <NUM> the position of the lever in the gripped position and the released position.

The activator holder <NUM> extends annularly about the nose tube axis N and slides along the nose tube <NUM> as the lever <NUM> moves between the gripped position and the released position. The push member <NUM> includes a fork <NUM> that receives the sleeve <NUM> and is pivotably pinned to the sleeve <NUM>. When the push member <NUM> is moved relative to the nose tube <NUM> in response to actuation of the lever <NUM>, the push member <NUM> moves the sleeve <NUM> and the sleeve <NUM> abuts and moves the activator holder <NUM>.

With reference to <FIG> and <FIG>, the push member <NUM> extends transversely to the nose tube axis N from the lever <NUM> toward the proximal end <NUM> of the nose tube <NUM> at an acute angle relative to the lever <NUM>. When the lever <NUM> is actuated, i.e., when the lever <NUM> is moved to the depressed position, the lever <NUM> forces the push member <NUM> to slide the sleeve <NUM> along the nose tube axis N toward the proximal end of the nose tube <NUM> and the sleeve <NUM> forces the activator holder <NUM> to the proximate position against the bias of the biasing device <NUM>. In other words, the bias of the biasing device <NUM> is overcome to move the activator holder <NUM> along the nose tube axis N to the proximate position. When the operator releases the lever <NUM>, the biasing device <NUM> biases the activator holder <NUM> to the spaced position and the activator holder <NUM> abuts the sleeve <NUM> and pushes the sleeve <NUM> toward the distal end <NUM> of the nose tube <NUM>. Movement of the sleeve <NUM> toward the distal end <NUM> of the nose tube <NUM> pivots the push member <NUM> and forces the lever <NUM> to return to the released position.

As set forth above, another embodiment of the grip sensing mechanism <NUM> is shown in <FIG>. With reference to <FIG> and <FIG>, the grip sensing mechanism <NUM> includes a sleeve <NUM> coupled to the lever <NUM> and to at least one of the actuator holder <NUM> and the sensor holder <NUM>. For example, as shown in <FIG>, the sleeve <NUM> slideably engages the nose tube <NUM> and abuts the actuator holder <NUM>.

A push member <NUM> is coupled to the lever <NUM> and the sleeve <NUM> to transfer movement from the lever <NUM> to the sleeve <NUM>. The sleeve <NUM> presents a lip <NUM> that receives the push member <NUM>. The lever <NUM> defines a hole <NUM> that receives the lever <NUM>.

With reference to <FIG>, when the lever <NUM> is actuated, i.e., when the lever <NUM> is moved to the depressed position, the lever <NUM> forces the lever <NUM> to slide the carriage <NUM> along the nose tube axis N toward the proximal end of the nose tube <NUM>. The carriage <NUM> forces the activator holder <NUM> to the proximate position against the bias of the biasing device <NUM>. In other words, the bias of the biasing device <NUM> is overcome to move the activator holder <NUM> along the nose tube axis N to the proximate position. When the operator releases the lever <NUM>, the biasing device <NUM> biases the activator holder <NUM> to the spaced position and the activator holder <NUM> abuts the carriage <NUM> and pushes the carriage <NUM> toward the distal end <NUM> of the nose tube <NUM>. Movement of the carriage <NUM> toward the distal end <NUM> of the nose tube <NUM> pivots the lever <NUM> and forces the lever <NUM> to return to the released position.

As set forth above, the handle <NUM> is rotatably supported by the nose tube <NUM> about the nose tube axis N. The lever <NUM> is pivotably coupled to the nose tube about a pivot point P. The pivot point P is fixed relative to the handle about the nose tube axis N. In other words, the lever <NUM> rotates about the nose tube axis N with the handle <NUM>, i.e., as a unit. The carriage <NUM> is rotatably supported by the nose tube <NUM> and rotates with the handle <NUM> about the nose tube axis N.

With reference to <FIG>, a gear box <NUM> couples the actuator <NUM> to the drive member <NUM>. The gear box <NUM> offsets the actuator <NUM> from the tool axis T. In other words, the actuator <NUM> is offset from the tool axis T to provide access for the cartridge <NUM> to supply liquid to the tool <NUM>. Specifically, the actuator <NUM> is offset toward the manipulator <NUM>. This shifts the center of gravity of the end effector <NUM> toward the manipulator <NUM>, which reduces inertia of the manipulator <NUM> and improves ergonomics and handling of the end effector. The shift of the center of gravity of the end effector <NUM> results in better performance of the force-torque sensor on the manipulator <NUM>.

The gear box <NUM> includes a housing <NUM> and can include at least one gear <NUM> supported in the housing <NUM>. The gear <NUM> is in communication with the actuator <NUM> and the drive member <NUM> for transmitting rotation from the actuator <NUM> to the drive member <NUM>, as shown in <FIG>. The gear box <NUM> shown in the Figures includes one gear <NUM>, however, the gear box <NUM> can include any number of gears between the motor and the drive member <NUM>. Alternatively, the actuator <NUM> can be directly engaged with the drive member <NUM> and can be axially aligned with the drive member <NUM>. In such an embodiment, the actuator <NUM> can be cannulated to deliver irrigation fluid to the drive member <NUM>.

With reference to <FIG>, the housing <NUM> receives the actuator <NUM> and the drive member <NUM>. The actuator <NUM> includes an output shaft <NUM> and the drive member <NUM> includes an input portion <NUM> with the housing <NUM> receiving the output shaft <NUM> and the input portion <NUM>. The output shaft <NUM> of the actuator <NUM> is engaged with a gear <NUM>. For example, the gear <NUM> is fixed to the output shaft <NUM> or can be formed on the output shaft <NUM>. The gear <NUM> is meshed with the gear <NUM> in the housing <NUM>.

The input portion <NUM> of the drive shaft <NUM> is engaged with the gear <NUM>. For example, an idler gear <NUM> is fixed to the input portion <NUM> of the drive member <NUM>. The idler gear <NUM> is meshed with the gear <NUM> in the housing <NUM>.

With reference to <FIG>, <FIG>, the housing <NUM> includes a base <NUM> and a cover <NUM> mounted to the base <NUM>. The base <NUM> defines a cavity <NUM> receiving the gear <NUM> and receiving the input portion <NUM> of the drive shaft <NUM> and the output shaft <NUM> of the actuator <NUM>. With reference to <FIG>, an idle shaft <NUM> supports the gear <NUM> in the housing <NUM>. In other words, the gear <NUM> is idle in the housing <NUM> and is driven by the output shaft <NUM> of the actuator <NUM>.

The actuator <NUM> is typically a motor. For example, the motor can be an electric, brushless, Hall-less, DC permanent magnet motor. Alternatively, for example, the actuator <NUM> can be a brushed motor, and AC motor, a pneumatic motor, a hydraulic motor, etc..

With reference to <FIG>, the cutting accessory <NUM> and/or guard <NUM> include a first circuit <NUM>, e.g., an identification element <NUM>, and the nose tube <NUM> includes a second circuit <NUM>. The first circuit <NUM> and the second circuit <NUM> are configured to communicate with each other.

The identification element <NUM> is, for example, a wireless data element <NUM>, as shown in <FIG>, or wired data element <NUM>, as shown in <FIG>. The identification element <NUM> communicates with the end effector <NUM> to identify the cutting accessory <NUM>. For example, the identification element <NUM> can identify to the end effector <NUM> the type, size, manufacturer, life use data, and/or other parameters of the cutting accessory.

With reference to <FIG>, the wireless data element <NUM> is, for example, a radiofrequency identification (RFID) element, e.g., chip, tag, etc. The wireless data element <NUM> of <FIG> is mounted to the guard <NUM>. Alternatively, the wireless data element <NUM> can be supported by the cutting accessory <NUM>, e.g., in the shroud. For example, the wireless data element <NUM> can be connected to the inside surface <NUM> of the shroud <NUM> of <FIG> and <FIG>.

With reference to <FIG>, the second circuit <NUM>, e.g., a wireless reader <NUM> such as an RFID reader, is mounted to the nose tube <NUM>. The wireless reader <NUM> can, for example, be a wire coil that acts as an antenna. This coil can be wound with thermocouple wire to additionally act as a temperature sensor for the bearings in the nose tube.

The wireless reader <NUM> receives a signal from the wireless data element <NUM>. The wireless reader <NUM> is connected to the manipulator controller <NUM> to transfer the signal/data from the wireless data element <NUM> to the manipulator controller <NUM> so that the manipulator controller <NUM> can use the signal/data to operate the end effector <NUM> according to the parameters of the cutting accessory <NUM>. As shown in <FIG>, the signal/data can be communicated to the manipulator controller <NUM>. For example, a flex circuit <NUM> or wire, etc. connects to the wireless reader <NUM> to deliver the signal/data.

With reference to <FIG>, the wired data element <NUM> is memory such as, for example, non-volatile random access memory (NVRAM). The memory is supported in the shroud <NUM> of the cutting accessory <NUM>.

With reference to <FIG>, one of the fingers <NUM> of the shroud <NUM> supports a connection <NUM> that is connected to the wired data element <NUM> with, for example, a flex circuit, wire, etc., which is not shown. With reference to <FIG>, the nose tube <NUM> supports a corresponding connection <NUM> configured to connect to connection <NUM> when the cutting accessory <NUM> is connected to the nose tube <NUM>. The cutting accessory <NUM> and/or the nose tube <NUM> can include alignment features (not shown) configured to align the shroud <NUM> with the nose tube <NUM> such that the connector <NUM> is aligned with the connector <NUM> when the cutting accessory <NUM> is engaged with the nose tube <NUM>.

With reference to <FIG>, the connector <NUM> is connected to the manipulator controller <NUM> to transfer the signal/data from the wireless communicating element <NUM> to the manipulator controller <NUM> so that the manipulator controller <NUM> can use the signal/data to operate the end effector <NUM> according to the parameters of the cutting accessory <NUM>. As shown in <FIG>, the signal/data can be communicated to the manipulator controller <NUM>. For example, a flex circuit <NUM> or wire, etc., connects to the connector <NUM> to deliver the signal/data.

A method of assembling the cutting accessory <NUM> to the nose tube <NUM> is followed to identify the cutting accessory <NUM> to the manipulator controller <NUM>. For example, in the embodiment of <FIG> with the first circuit mounted to the guard <NUM>, the method includes first providing the cutting accessory <NUM> with the guard <NUM> covering a portion of the cutting accessory <NUM>. Specifically, the guard <NUM> covers the cutting tip <NUM> of the cutting accessory <NUM>.

The method includes inserting the cutting accessory <NUM> into the nose tube <NUM> along the nose tube axis N to couple the cutting accessory <NUM> with the nose tube <NUM>, as described above. The method includes introducing the first circuit <NUM> into communication with the second circuit <NUM>. Specifically, as the cutting accessory <NUM> is inserted into the nose tube <NUM>, the first circuit <NUM> comes within sufficient proximity to the second circuit <NUM> to enable wireless communication.

Claim 1:
An end effector (<NUM>) for use with a surgical robotic manipulator (<NUM>) and a cutting accessory (<NUM>) for cutting tissue of a patient, the end effector (<NUM>) comprising:
an actuator (<NUM>) for driving the cutting accessory (<NUM>);
a nose tube (<NUM>) extending along an axis (N) for receiving the cutting accessory
a handle (<NUM>) rotatably supported by the nose tube (<NUM>) such that the handle (<NUM>) can rotate relative to the nose tube (<NUM>) and about the axis (N) of the nose tube (<NUM>);
a lever (<NUM>) coupled to the handle (<NUM>) being moveable relative to the handle (<NUM>) between a depressed position and a released position; and
a sensor (<NUM>) supported by the nose tube (<NUM>) and configured to sense the lever (<NUM>) in the depressed position and the released position,
wherein the actuator (<NUM>) is configured to be activated for driving the cutting accessory (<NUM>) in response to the sensor (<NUM>) sensing the lever (<NUM>) in the depressed position.