CN118175972A - Accessory and system for tracking surgical instruments - Google Patents

Abstract

A tracker attachment for a high-speed drilling apparatus may include an attachment including an attachment body engageable with a surgical handpiece and a tracker operable with a surgical navigation system to track an attachment position. The accessory may further include a cantilever arm extending proximally of the accessory body to the accessory mount. The tracker may include an accessory socket configured to removably engage with the accessory mount. The system may also include a sterile packaging system for storing and transporting the tracker.

Description

Accessory and system for tracking surgical instruments

Cross Reference to Related Applications

The present patent application claims priority and ownership of U.S. provisional patent application Ser. No.63/257,066, provisional patent application Ser. No.63/318,436, provisional patent application Ser. No.63/413,014, issued on Ser. No. 2021, 10, 18, 3, and 2022, 10, 4, which are incorporated herein by reference in their entirety.

Background

Certain accessories, such as tracking markers in one non-limiting example, have been permanently affixed to and may form part of an associated surgical instrument. There is a need for an accessory mount for use with a surgical instrument to easily install and remove such accessories and to provide consistent alignment of the accessory with the surgical instrument.

Disclosure of Invention

In one aspect, an accessory for a surgical instrument is disclosed. The surgical instrument may comprise a surgical handpiece. The accessory may include an accessory body extending from a proximal end to a distal end. The proximal end may be configured to engage a surgical handpiece. The accessory body may include a hub portion disposed at a proximal end of the accessory body and engageable with a distal end of the surgical handpiece. The bushing portion has a first diameter. The attachment body may further comprise a mounting flange arranged distally of the bushing portion. The mounting flange has a second diameter that is greater than the first diameter of the bushing portion. The accessory may further include a tool holder coupled to the accessory body and configured to receive a material removal tool disposed at the working end of the surgical instrument. The accessory may further include a drive shaft supported in the accessory body and operatively coupled to the tool holder. The drive shaft is rotatable about the instrument axis to transmit power from the surgical handpiece to the material removal tool. The accessory may also include a cantilever arm coupled to the accessory body adjacent the mounting flange. The cantilever extends in a proximal direction to the accessory mount. The accessory mount may be positioned proximal to the bushing portion.

In a second aspect, a system for tracking a position of a rotary cutting tool is disclosed. The system may include a rotary cutting tool, a surgical handpiece including a motor, and a surgical instrument accessory. The surgical instrument accessory may include an accessory body extending from a proximal end to a distal end. The proximal end may be configured to engage a surgical handpiece. The surgical instrument accessory may further include a cantilever coupled to the accessory body and extending in a proximal direction to the accessory mount. The accessory mount may be disposed proximal of the proximal end of the accessory body and spaced apart from the surgical handpiece. The system may also include a tracker. The tracker may include a tracker frame and at least three optical markers coupled to the tracker frame. The tracker may also include an accessory socket coupled to the tracker frame. The accessory socket may be configured to engage an accessory mount. The tracker may be disposed proximal to the accessory body when the accessory socket is coupled to the accessory mount.

In a third aspect, a coupling arrangement for coupling a surgical instrument tracker to a surgical instrument is disclosed. The coupling arrangement may include an accessory mount and an accessory socket. The accessory mount may be coupled to a surgical instrument and the accessory socket may be coupled to a surgical instrument tracker. The accessory mount may include a body portion having a top surface and defining a clamping aperture in the top surface. The accessory mount may further include first and second wing portions projecting from opposite sides of the main body portion transversely to the top surface. The first side wing portion can have a first lateral surface and the second side wing portion can have a second lateral surface. The first and second lateral surfaces may be symmetrically angled with respect to a longitudinal plane of the surgical instrument. The accessory mount may also include a plurality of alignment posts protruding from the top surface. The accessory socket may include a clamping surface defining a fastener hole and a plurality of alignment channels recessed into the clamping surface and configured for complementarily engaging the plurality of alignment posts. The accessory socket may further include a first socket wall depending from the clamping surface and having a first rail surface spaced from the clamping surface and a first ramp surface extending between the first rail surface and the clamping surface. The accessory socket may further include a second socket wall depending from the clamping surface and having a second rail surface spaced from the clamping surface and a second ramp surface extending between the second rail surface and the clamping surface. The system may further include a clamping fastener disposed in the fastener hole and engageable with the clamping hole. The clamping fastener may be configured to bias the top surface of the body portion toward the clamp surface of the accessory socket such that the alignment posts engage the alignment channels.

In a fourth aspect, a sterile packaging system for a tracker for surgical navigation is disclosed. The sterile packaging system may include a sterile tracker and a blister pack. The sterile tracker may include a tracker frame defining a battery receptacle. The sterile tracker may also include a circuit including positive and negative terminals disposed in the battery receptacle and a plurality of tracking indicia in electrical communication with the positive and negative terminals. The sterile tracker may further include a battery disposed in the battery receptacle between the positive terminal and the negative terminal and an isolation member disposed between the battery and each of the positive terminal and the negative terminal. The blister package may include a housing portion defining a sterile interior shaped to receive the sterile tracker. The blister package may also include a sealing film that cooperates with the housing portion and is disposed over the sterile interior to seal the sterile tracker within the blister package.

Any of the above aspects may be combined in whole or in part. Any of the features of the above aspects may be combined in whole or in part. Any of the embodiments described above for any aspect may be combined with any other aspect. Any of the above embodiments may be combined with any other embodiment, whether directed to the same aspect or to a different aspect. This summary presents some concepts in a simplified form that are further described below in the detailed description. This summary is not intended to limit the scope of the claimed subject matter nor is it intended to identify key features or essential features of the claimed subject matter.

Drawings

Advantages of the invention may be better understood, and thus will be readily appreciated, by reference to the following detailed description when taken in conjunction with the accompanying drawings.

Fig. 1 is an exemplary operating room showing an operative navigation system.

FIG. 2 is a perspective view of a user holding a surgical instrument having an accessory and a tracker coupled thereto.

Fig. 3 is another perspective view of the surgical instrument and tracker of fig. 2.

FIG. 4 is a perspective view of the surgical instrument with the tracker in a removed position and with the tracker partially removed shown in phantom.

Fig. 5 is a perspective view of a tracker and coupling arrangement with accessory mounts and accessory sockets.

Fig. 6 is a bottom perspective view of the coupling arrangement and tracker of fig. 5.

Fig. 7 is a cross-sectional view of the coupling arrangement.

Fig. 8 is a cross-sectional view of the tracker, coupling arrangement, and accessory.

Fig. 9 is a close-up cross-sectional view of the tracker showing the accessory socket of the coupling arrangement.

Fig. 10 is a perspective cutaway view of the tracker and coupling arrangement.

Fig. 11 is a perspective cutaway view of a tracker and spacer.

Fig. 12 is a cross-sectional view of the tracker and accessory socket.

Fig. 13 is a bottom perspective view of the tracker and accessory socket.

Fig. 14 is a perspective view of an accessory and accessory mount of a surgical instrument.

Fig. 15 is a proximal end view of the accessory and accessory mount.

Fig. 16 is another perspective view of the accessory mount.

Fig. 17 is another perspective view of the accessory mount.

Fig. 18 is a perspective view of a surgical instrument having an accessory and a tracker coupled thereto.

FIG. 19 is a close-up side view of the surgical instrument and tracker of FIG. 18 with the tracker shown partially removed from the surgical instrument.

Fig. 20 is a bottom perspective view of a tracker and coupling arrangement with accessory mounts and accessory sockets.

Fig. 21 is another perspective view of the tracker and coupling arrangement of fig. 20.

FIG. 22 is a close-up cross-sectional view of the tracker showing the accessory mount of the coupling arrangement.

Fig. 23 is a perspective cutaway view of the tracker and coupling arrangement.

Fig. 24 is another cross-sectional view of the tracker and coupling arrangement.

Fig. 25 is a bottom perspective view of the tracker and accessory socket.

Fig. 26 is a bottom side view of the tracker and accessory socket.

Fig. 27 is a bottom perspective view of the tracker and accessory socket.

Fig. 28 is a perspective view, partially in section, of the tracker of fig. 2-12 positioned and supported within the sterile packaging system and sterilized.

Fig. 29 is a perspective view, partially in section, of the other aseptic packaging system of fig. 28, showing the housing portion and the insertion portion.

Fig. 30 is an environmental view of the sterile packaging system showing a user removing the sterilized tracker and insertion portion from the housing portion.

Fig. 31 is an environmental view of the sterile packaging system showing a user assembling the sterile tracker to a surgical instrument without directly contacting the sterile tracker.

Detailed Description

Referring to the drawings, wherein like numerals indicate like parts throughout the several views, the present disclosure includes two exemplary embodiments of a navigation tracker 300, 1300 (discussed in further detail below) and an instrument accessory 240 for a handheld surgical instrument 200 that may be used with a surgical navigation system 102, and a method of operating the tracker 300. Fig. 1 illustrates an exemplary surgical system 100 that may include a surgical navigation system 102 for tracking one or more surgical instruments 200 (including surgical instrument 200) and a tracker 300 to assist a medical professional, such as a surgeon, in performing a medical procedure.

Surgical navigation system 102 may include a navigation interface that includes one or more display units 104 and one or more user input devices 106. The display unit 104 of the surgical navigation system 102 may be configured to display various prompts or data entry boxes. For example, the display unit 104 may be configured to display text boxes or prompts that allow the surgeon to manually type or select the type of surgical procedure to be performed. The display unit 104 may also be configured to display patient data, such as pre-operative images or scans. As described above, the pre-operative image may be based on an MRI scan, a radiological scan, or a Computed Tomography (CT) scan of the patient anatomy. The preoperative image may be uploaded to the surgical navigation system 102 and displayed on the display unit 104. The display unit 104 may also be configured to display a surgical plan of the medical procedure superimposed on the patient data or images. The surgical plan may include a surgical path for performing a medical procedure or a planned trajectory or orientation for a medical instrument during a medical procedure. The surgical plan may also include superimposing the position and/or orientation of an implant or medical device to be inserted during the medical procedure on the patient data or images. It is contemplated that surgical navigation system 102 may include a display unit 104 configured to display and/or project holographic images as follows: a surgical path for performing a medical procedure or a planned trajectory or orientation for a medical instrument during a medical procedure. This may include projecting the surgical path onto the patient or other surface in the operating room. It may also include projecting the surgical path onto a head unit (e.g., a lens, shield, or glasses of the head unit) worn by the surgeon. An exemplary configuration of the surgical navigation system 102 is disclosed in U.S. patent application publication No. 2020/0085111, which is incorporated herein by reference in its entirety, including a display unit worn by a surgeon for displaying a target trajectory and/or target location.

The user input device 106 may be configured to allow a surgeon to enter or type patient data or modify a surgical plan. The patient data may include an image of the patient, such as a pre-operative image of the patient's anatomy. These images may be based on MRI scans, radiological scans, or Computed Tomography (CT) scans of the patient anatomy. The patient data may also include additional information related to: the type of medical procedure being performed, anatomical features of the patient, specific medical conditions of the patient, and/or operational settings of the surgical navigational setup. For example, in performing spinal surgery, a surgeon may enter information related to the particular vertebrae on which the medical procedure is being performed via user input device 106. The surgeon may also enter various anatomical dimensions associated with the vertebrae and/or the size and shape of the medical device or implant to be inserted during the medical procedure. The user input device 106 may also be configured to allow a surgeon to select, edit, or manipulate patient data. For example, the surgeon may identify and/or select anatomical features from patient data. This may include selecting a surgical site, for example, selecting a vertebra and/or a particular region on a vertebra to perform a medical procedure.

Surgical navigation system 102 may also include a navigation processor 108. The navigation processor 108 may be provided on a personal computer or a notebook computer. Navigation processor 108 may be in communication with user input device 106, display unit 104, central Processing Unit (CPU) and/or other processors, memory (not shown), and storage (not shown). The navigation processor 108 may also include software and/or operational instructions related to the operation of the surgical navigation system 102 and for implementing the various routines and/or methods disclosed herein. The software and/or operational instructions may include a planning system configured to find an accurate position and/or angular alignment of the surgical instrument 200 relative to the patient 120. The navigation processor 108 may be in wired or wireless communication with the surgical instrument 200 directly or indirectly.

Surgical navigation system 102 may also include a tracking unit or locator 122 that includes one or more sensors 124. The sensor may include a camera (e.g., a CCD camera, a CMOS camera, and/or an optical image camera), a magnetic sensor, a radio frequency sensor, or any other sensor suitable for detecting and/or sensing the position of the tracker 300 of the surgical instrument 200. One exemplary locator 122 is capable of detecting radiation or light from a plurality of markers and generating a locator signal representative of the detected radiation or light. The exemplary surgical navigation system 102 may be configured to utilize trackers 300 having a fixed spatial relationship between tracking markers. A description of the various suitable positioners that may be used may be found in U.S. patent No.10,531,926, which is incorporated herein by reference in its entirety.

The navigation processor 108 may be capable of receiving the locator signal. The navigation processor 108 may also be capable of registering and tracking the tracker 300 based on the received sensor signals. Based on the locator signals, the processor is also capable of calculating an orientation and/or position of the tracker 300 relative to the locator 122. The navigation processor 108 may access information about the spatial relationship. In this case, a three-dimensional image captured by a stereoscopic camera is not required, and the camera may include only a single two-dimensional image sensor.

The navigation processor 108 may also be configured to receive and/or store information/data of the patient 120 (e.g., computed tomography and/or tracking signals of the patient's body). The navigation processor 108 may then calculate the position and/or orientation of the surgical instrument 200 relative to the patient 120. The navigation processor 108 may be configured to generate visual or acoustic signals indicative of tracking of the surgical instrument 200. The visual signal may be displayed on the display unit 104. Navigation processor 108 may be part of a computing device separate from the locator. Alternatively, the locator may comprise the navigation processor.

Fig. 2 shows a perspective view of a first configuration of a tracker 300 and surgical instrument 200. The surgical instrument 200 has a proximal end 202 and a distal end 204 spaced apart along an instrument axis A1. In many cases, as shown in fig. 2, the surgical instrument 200 transmits mechanical energy along an instrument axis A1 from a source (e.g., a motor or ultrasonic transducer) to a cutting tool 208 coupled to the surgical instrument 200. An example of such an arrangement is shown in fig. 2, where a surgical instrument 200 is shown with a rotary cutting tool (e.g., a high speed drill attachment).

Surgical instrument 200 may include an attachment 240, a surgical handpiece 206 (or handpiece), and a cutting tool 208. The accessory 240 is configured to engage the surgical handpiece 206 and receive the cutting tool 208. The accessory 240 transmits rotational motion from the handpiece 206 to the cutting tool 208. In this way, the handpiece 206 is powered and receives electrical control signals, for example, from a control system coupled to the handpiece 206 by a flexible power cable 212.

Handpiece 206 may include a housing 210, a motor (not shown) disposed within housing 210, a flexible power cable 212 protruding in a proximal direction from housing 210, and a handpiece interface 214 at a distal end 216 of surgical handpiece 206. The housing 210 has a handpiece diameter 218. Exemplary surgical instruments can be found in U.S. patent No.8,597,316 and U.S. patent No.10,537,339, which are incorporated herein by reference in their entirety.

Power from the handpiece 206 is transferred to the accessory 240 to drive the cutting tool 208. As shown in fig. 3 and 14, accessory 240 can include an accessory body 242 extending from a proximal end 244 to a distal end 246. As used herein, "distal" generally refers to a portion closer to the patient during use (e.g., the material removal tool closest to the surgical site), and "proximal" generally refers to a portion farther from the patient during use (e.g., the power cord). The proximal end 244 of the accessory 240 is configured to engage the distal end 216 of the surgical handpiece 206. The accessory body 242 includes a sleeve portion 248 disposed at the proximal end 244 of the accessory body 242 that is engageable with the handpiece interface 214 of the handpiece 206. The bushing portion 248 is received by the handpiece interface 214 and is generally aligned with the instrument axis A1. The sleeve portion 248 has a first diameter 250 that is sized to fit within the handpiece interface 214 at the distal end 216 of the handpiece 206.

The attachment body 242 also includes a mounting flange 252 disposed distally of the bushing portion 248 having a second diameter 254. The second diameter 254 of the mounting flange 252 is greater than the first diameter 250 of the bushing portion 248. The second diameter 254 is sized to limit insertion of the sleeve portion 248 into the handpiece 206. The second diameter 254 may be less than or equal to the housing diameter 218 of the handpiece 206. When the accessory 240 is fully coupled to the handpiece 206, the mounting flange 252 abuts the distal end of the handpiece 206.

A drive shaft 256 is disposed in the attachment body 242 and is supported for rotation about the instrument axis A1 and, in some cases, about the tool axis A2. The drive shaft 256 is rotatable about the instrument axis A1 to transmit power from the surgical handpiece 206 to the cutting tool 208. In some embodiments of the accessory 240, the drive shaft 256 may include two or more drive shaft segments that are engaged in a torque transfer (translate) relationship such that rotation of one drive shaft segment is transferred to the other drive shaft segment. The drive shaft segments may be operatively coupled using, for example, universal joints, constant velocity joints, gears, and the like. To this end, some embodiments of the accessory 240 may be inclined at an angle relative to the instrument axis A1. The accessory 240 shown herein is an accessory with the distal end 246 inclined at an angle relative to the proximal end 244. Here, one of the drive shaft segments 256A is disposed in the proximal portion of the accessory 240 and aligned with the instrument axis A1, while the other drive shaft segment 256B is disposed in the distal portion of the accessory 240 and aligned with the tool axis A2. Tilting accessory 240 at an angle may facilitate better control and/or viewing by the surgeon during use. For example, a surgeon may prefer that the working end be angled when performing a procedure using one type of cutting tool, and that the working end be straight when performing a procedure using another type of cutting tool. The appendage 240 may be straight, inclined at 15 degrees, inclined at 45 degrees, etc. In addition, the accessory may have various lengths, such as 30 millimeters, 50 millimeters, etc.

The accessory 240 may also include a tool holder 258 supported in the accessory body 242 and configured to engage the cutting tool 208. A cutting tool 208 is disposed at the working end of the surgical instrument 200. The working end is generally referred to herein as the distal-most portion of the surgical instrument 200 that is intended to perform a task (e.g., material removal) on a patient. The tool holder 258 is operably coupled to the drive shaft 256 to receive power from the handpiece 206. More specifically, the tool holder 258 may be coupled to the distal drive shaft segment 256B and aligned with the tool axis A2. The tool holder 258 advantageously allows the cutting tool 208 to be removed from the accessory 240 without first removing other portions of the surgical instrument 200 (e.g., the tracker 300).

Turning to fig. 14, accessory 240 may include cantilever 260 in addition to those described above. Cantilever 260 may be coupled to attachment body 242, adjacent to mounting flange 252, or remote from mounting flange 252. Cantilever 260 extends in a proximal direction from accessory body 242 to accessory mount 262. The cantilever 260 is configured such that the accessory mount 262 is positioned proximal to the sleeve portion 248. More specifically, the accessory mount 262 is spaced from the mounting flange 252 by an arm distance 264. An arm socket 266 is disposed at the distal end of the cantilever arm 260 and engages the accessory body 242 to couple the cantilever arm 260 to the accessory 240. Here, arm socket 266 is annular and is coupled to accessory body 242 by an interference fit. In other words, the inner diameter of the arm socket 266 is nearly the same as the second diameter 254 of the bushing portion 248 such that the arm socket 266 may be pressed onto the attachment body 242 and retained without the need for additional fasteners. In other embodiments of accessory body 242 or cantilever arm 260, arm socket 266 may be welded to accessory body 242 during manufacturing. It is contemplated that other coupling methods may be used, such as brazing, adhesives, soldering, one or more threaded fasteners, riveting, swaging, and the like. Arm socket 266 may be removably coupled to both accessory body 242 and cantilever arm 260. Alternatively, arm socket 266 may be integrally formed with accessory body 242 and cantilever arm 260.

The cantilever 260 extends in a direction generally parallel to the instrument axis A1. Cantilever 260 is shaped to minimize the profile of surgical instrument 200. In other words, the cantilever 260 is shaped such that the outer surface of the cantilever 260 relative to the instrument axis A1 is minimized. To this end, the cantilever 260 may have a curved profile 268 that is spaced apart from and follows the cylindrical shape of the handpiece 206. More specifically, the cantilever has an arm radius distance 270 from the curved profile 268 to the instrument axis A1. The ratio of the handpiece diameter 218 to the arm radius distance 270 is greater than 1.25:1, which greatly reduces the footprint of the surgical instrument 200 and improves the balance of the surgeon's hand. Similarly, the ratio of arm distance 260 to arm radius distance 270 is greater than 5:1.

Fig. 13-16 illustrate an accessory mount 262 coupled to the proximal end of the cantilever 260. The accessory mount 262 is configured to engage with the accessory socket 340 (see fig. 4). As will be discussed below, the accessory socket 340 is coupled to the tracker frame 302 of the tracker 300 for removably coupling the tracker 300 to the accessory 240. The accessory mount 262 may include a main body portion 272, first and second wing portions 274, and one or more alignment posts 276. The body portion 272 may have a top surface 278 and define a clamping aperture 280. The top surface 278 is oriented generally away from the instrument axis A1. The clamping holes 280 are configured to receive corresponding clamping fasteners 282, as described below. Here, the clamping hole 280 is threaded, having an internal thread form for receiving the clamping fastener 282, and the clamping fastener 282 is threaded, having a correspondingly shaped external thread form.

The first and second wing portions 274 may be further defined as a first wing portion 274A and a second wing portion 274B. The first side wing portion 274A and the second side wing portion 274B project from opposite sides of the main body portion 272 in a direction generally transverse to the top surface 278. Each flap portion 274 has a corresponding lateral face 284. More specifically, the first side wing portion 274A has a first lateral surface 284A and the second side wing portion 274B has a second lateral surface 284B. As shown in the example of fig. 14, lateral face 284 is generally at an angle of about 90 degrees to top surface 278. However, some differences are expected due to the nature of certain manufacturing processes. In other embodiments, the angle of lateral surface 284 and top surface 278 may be any value between 0 and 180 degrees. However, each lateral face 284 is non-parallel to the instrument axis A1. A mount width 286 may be defined between the first and second lateral faces 284A, 284B.

The surgical instrument 200 defines a longitudinal plane P1 (see fig. 11) aligned with the instrument axis A1 and arranged in a vertical orientation. The longitudinal plane P1 schematically defines the left and right sides of the surgical instrument 200. The first and second lateral surfaces 284 may be symmetrically angled with respect to the longitudinal plane P1 of the surgical instrument 200. In other words, the first lateral surface 284A may be at a first angle relative to the longitudinal plane P1, while the second lateral surface 284B may be at a second angle relative to the longitudinal plane P1. The first angle of the first lateral surface 284A and the second angle of the second lateral surface 284B may be equal and opposite to each other, i.e., mirror-image arrangement across the longitudinal plane P1. The exemplary accessory mount 262 shown herein implements such a lateral face 284: illustratively, they intersect at a point spaced apart from the accessory mount 262 in the distal direction.

The accessory mount 262 may also include one or more alignment posts 276 protruding from a top surface 278. Alignment posts 276 are configured to engage corresponding alignment channels 346 defined in accessory socket 340. The accessory mount 262 may include any suitable number of alignment posts 276 to achieve secure engagement with the accessory socket 340. More specifically, the alignment posts 276 prevent the tracker 300 from moving relative to the accessory 240 during use, and relative movement therebetween may reduce tracking accuracy. The one or more alignment posts 276 may be further defined as eight alignment posts, as shown herein. Other numbers of alignment posts are also contemplated.

Here, alignment posts 276 may be utilized to limit relative movement between the tracker 300 and the accessory mount 262. The alignment posts 276 may be radially arranged in a circular or semi-circular pattern around the clamping aperture 280 to limit movement. Here, the alignment post 276 is shaped to have an elongated truncated cone shape. Mount height 288 may be defined between the lowest surface of shoulder 274 and the highest point of alignment post 276.

As described above, the tracker 300 can be removably coupled to the surgical instrument 200 to track the position and orientation of the accessory 240 and the cutting tool 208. The tracker 300 may be operated with the surgical navigation system 102 to determine the position and orientation of the tracker 300 in space. The tracker 300 may be operable with the surgical instrument 200 and the surgical navigation system 102 to determine the position and/or orientation of the surgical instrument 200 or components thereof within an operating room. To accurately determine the position of the surgical instrument 200, a tracker 300 is coupled to the surgical instrument 200 and configured to prevent relative movement therebetween during a surgical procedure. In addition, the tracker 300 should be coupled to the surgical instrument 200 in order to maximize the visibility of the tracker 300 by the surgical navigation system 102. It should also be appreciated that certain features of the tracker may be used to track a patient, another device in an operating room, or even a medical professional.

Although the surgical instrument 200 is shown as a high-speed drill throughout the figures, the tracker 300 may be used with surgical instruments other than high-speed drills. For example, the tracker 300 may be coupled to a handheld ultrasonic ablation tool, biopsy needle, or a portion of a robotic device (e.g., a robotic end effector, a robotic arm, or other device in an operating room). Similarly, the tracker 300 may be adapted to be coupled to other surgical instruments (not shown), such as a hand drill, saw, or bone drill. As described above, the attachment 240 coupled to the working end of the surgical instrument 200 is shown in FIG. 2 as an angled attachment that drives a rotary tool on a tool axis A2 that is different from the instrument axis A1. For example, the accessory may be straight, angled at 15 degrees, angled at 45 degrees, etc.; the accessory may have various lengths, such as 30 millimeters, 50 millimeters, and so forth.

In some cases, certain surgical procedures may require the surgeon to use surgical instruments to perform precise movements. These and other surgical procedures may last for several hours. If a heavy tracker is attached to the handheld surgical instrument, the tracker may change the centroid of the assembly, which may be troublesome for the surgeon (e.g., due to torque being applied to the hand grip). The tracker 300 shown in the figures may provide reduced weight because the material selection and design features minimize the amount of material required to maintain the shape and desired characteristics of the tracking device. The hand-held surgical instrument 200 may be less tiring to hold.

Turning now to fig. 2-12, a first embodiment of a tracker 300 is shown. To facilitate removable coupling of the tracker 300 to the surgical instrument 200, the tracker 300 includes a tracker frame 302 having a proximal end 304 and a distal end 306, as shown in fig. 4. The tracker frame 302 includes a mounting portion 308 and defines an instrument aperture 310 through which the accessory 240 is inserted to couple to the tracker 300. As will be discussed in further detail below, the surgical instrument 200 is engaged with the tracker 300 from the proximal end 304 of the tracker frame 302. As shown in fig. 3, the tracker 300 is shown being removed/assembled to the accessory 240. The first tracker 300 is shown in phantom in a partially assembled state, wherein the accessory 240 is disposed in the instrument aperture 310, and the second tracker 300 is spaced apart from the accessory 240. The tracker 300 is assembled to the accessory 240 by inserting the distal end of the accessory 240 from the proximal end 304 of the tracker 300 into the instrument aperture 310. The instrument aperture 310 is shaped and sized such that the tracker 300 stops once it reaches the assembled position and does not fall out of the proximal end of the surgical instrument 200.

Turning to fig. 6, the tracker frame 302 may further include an elongated portion 312 supported on the mounting portion 308 and extending proximally in a direction generally parallel to the instrument axis A1. The elongated portion 312 may have a top surface 314. The top surface 314 may have a generally triangular shape when viewed from above, and the elongated portion 312 may taper from the distal end 306 to the proximal end 304. The tracker frame 302 may define a battery receptacle 316, the battery receptacle 316 being disposed adjacent to the top surface 314 of the tracker frame 302. The battery receptacle 316 may be configured to receive the battery 318 so as to place the battery 318 in electrical communication with the circuitry 374 of the tracker 300. The battery receptacle 316 may be configured to prevent current from flowing from the battery 318 until the battery 318 has been fully inserted into the battery receptacle 316. One exemplary embodiment of an LED tracking tag is shown in U.S. patent application publication No. 2019/032566, which is incorporated herein by reference. Other embodiments are also contemplated.

To track the position and orientation of the surgical instrument 200, the tracker 300 may also include a tracker array 320 having a plurality of tracking marks 322, the tracking marks 322 optionally being disposed on one or more tracked faces 324A, 324B, 324C and coupled to the tracker frame 302, as shown in fig. 11. A first tracked surface 324A is disposed on the top surface 314 of the elongated portion 312, a second tracked surface 324B is disposed beside the elongated portion 312 and the mounting portion 308 on a first side of the longitudinal plane P1, and a third tracked surface 324C is disposed beside the elongated portion 312 and the mounting portion 308 on a second side of the longitudinal plane P1. The tracker array 320 may also have a tracker profile defined perpendicular to the instrument axis A1 that includes three radial portions. The tracked faces 324A, 324B, 324C may be aligned with the respective radial portions 326A, 326B, 326C, each side oriented non-parallel to the other sides, e.g., about 120 degrees. The plurality of tracked faces 324A, 324B, 324C are positioned such that each tracked face 324A, 324B, 324C is oriented in a different direction from each other. The first tracked surface 324A may be aligned with the first radial portion 326A, the second tracked surface 324B may be aligned with the second radial portion 326B, and the third tracked surface 324C may be aligned with the third radial portion 326C. Other numbers of arrays and/or other numbers of sides are also contemplated. Trackers employing a similar tracked surface arrangement are disclosed in U.S. patent application publication No.2021/0236212, which is incorporated herein by reference in its entirety.

As shown in fig. 4 and 11, at least one of the tracking marks 322 may be positioned on the elongated portion 312 away from the mounting portion 308, and at least another one of the tracking marks 322 may be positioned proximate to the mounting portion 308. In some implementations, such as shown herein, the tracker array 320 can include at least three tracking marks 322, wherein the at least three tracking marks 322 define a mark plane that is located on one of the tracked faces 324A, 324B, 324C. At least one of the tracking marks 322 may be disposed in each of the radial portions 326A, 326B, 326C to facilitate increasing the visibility of the navigation system.

As described above, the tracker 300 may be clamped to the surgical instrument 200 in a safe and reliable manner. To this end, as shown in fig. 12, the tracker 300 may further include an accessory socket 340 operable to enable attachment of the tracker 300 to the surgical instrument 200. The accessory socket 340 may be removably coupled to the accessory mount 262 by a surgeon or another user or other medical professional. The accessory mount 262 coupled with the surgical instrument 200 and the accessory socket 340 coupled with the tracker 300 may be collectively referred to as a coupling arrangement or coupling structure (coupling arrangement).

Referring to fig. 10-12, the accessory socket 340 can include a clamping surface 342 defining a fastener aperture 344, and one or more alignment channels 346 recessed within the clamping surface 342. The alignment channel 346 is configured to complementarily engage one or more alignment posts 276 of the accessory mount 262. The accessory socket 340 may also define a socket opening 348 that is sized and shaped to receive the accessory mount 262. A socket opening 348 is typically disposed at the proximal end of the accessory socket 340.

The accessory socket 340 also includes a distal wall 350 adjacent the clamping surface 342. Opposite the socket opening 348, a distal wall 350 is provided at the distal end 306 of the tracker frame 302. Distal wall 350 projects away from the clamping surface in a direction toward surgical instrument 200. When the accessory mount 262 is received in the accessory socket 340, the distal wall 350 limits movement of the accessory mount 262 in the proximal-distal direction. In other words, the accessory socket 340 receives the accessory mount 262 in the proximal socket opening 348. When the accessory mount 262 is moved in the proximal-distal direction, the distal wall 350 restricts movement of the accessory mount 262 in the accessory socket 340 and retains the accessory mount 262 in the accessory socket 340, with the accessory mount 262 in a fully inserted position when the accessory mount 262 engages the distal wall 350. The distal wall 350 prevents the tracker frame 302 from being disengaged from the accessory mount 262 before the clamp fastener 282 can be tightened.

The accessory socket 340 may also include first and second socket walls extending from the clamping surface 342. More specifically, first socket wall 352 and second socket wall 358 extend from clamping surface 342, respectively, as shown in fig. 9. The first socket wall 352 may have a corresponding first rail surface 354 spaced apart from the clamping surface 342. First socket wall 352 may also have a first sloped surface 356 extending between first rail surface 354 and clamping surface 342. The second socket wall 358 may have a corresponding second rail surface 360 spaced apart from the clamping surface 342. The second socket wall 358 may also have a second ramped surface 362 extending between the second rail surface 360 and the clamping surface 342. The first socket wall 352, the first rail surface 354, and the first ramp surface 356 are disposed on one side of the longitudinal plane P1 to partially define the accessory socket 340. The second socket wall 358, the second seat rail surface 360, and the second ramp surface 362 are disposed across the longitudinal plane P1 to partially define the accessory socket 340. The first socket wall 352, the second socket wall 358, and the distal wall 350 cooperate to define the accessory socket 340.

The accessory socket 340 defines a socket width 364 and a socket height 366. Socket width 364 may be defined as the distance between first ramp surface 356 of first socket wall 352 and second ramp surface 362 of second socket wall 358. The socket height 366 may be defined as the distance between the clamping surface 342 and the first rail surface 354. The distance between the clamping surface 342 and the second rail surface 360 is substantially equal to the distance between the clamping surface 342 and the first rail surface 354. In other embodiments where the distance between the clamp surface 342 and the second rail surface 360 is different from the distance between the clamp surface 342 and the first rail surface 354, the distance between the clamp surface 342 and the second rail surface 360 may alternatively define the seat height.

Similar to lateral face 284, first ramp surface 356 and second ramp surface 362 are generally at an angle of approximately 90 degrees to clamping surface 342. However, some differences are expected due to the nature of certain manufacturing processes. However, these ramp surfaces are not parallel to the instrument axis A1. The first ramp surface 356 and the second ramp surface 362 may be symmetrically angled with respect to the longitudinal plane P1 of the surgical instrument 200. In other words, the first ramp surface 356 may be inclined at a first angle relative to the longitudinal plane P1 and the second ramp surface 362 may be inclined at a second angle relative to the longitudinal plane P1. The first angle of the first ramp surface 356 and the second angle of the second ramp surface 362 may be equal and opposite to each other. Furthermore, the angle of the first socket wall 352 is the same as the angle of the first lateral face 284A of the first side wing portion 274A relative to the longitudinal plane P1 of the surgical instrument 200, and the angle of the second socket wall 358 is the same as the angle of the second lateral face 284B of the second side wing portion 274B relative to the longitudinal plane P1 of the surgical instrument 200. In this way, engagement between the first ramp surface 356 and the first lateral surface 284A is facilitated. Similarly, engagement between the second ramp surface 362 and the second lateral surface 284B is facilitated. The mount width 286 of the accessory mount 262 between the first and second lateral sides 284A, 284B is greater than the socket width 364 of the accessory socket 340 such that the tracker 300 cannot slide off the accessory mount 262 and the back of the surgical instrument 200. Similarly, the mount height 288 of the accessory mount 262 between the lowest surface of the shoulder 274 and the highest point of the alignment post 276 is less than the socket height 366. In other words, socket height 366 may be greater than mount height 288.

Turning now to fig. 9 and 10, a passage opening 368 may be defined in at least one of the first rail surface 354 and the second rail surface 360. The passage opening 368 may be a hole or recess defined in at least one of the first rail surface 354 and the second rail surface 360 and aligned with one or more of the alignment passages 346 defined in the clamping surface 342 of the accessory socket 340. The passage openings 368 may be further defined as one or more passage openings 368, wherein each passage opening 368 is aligned with one or more of the alignment passages 346. When the passage opening 368 is aligned with the alignment passage 346 in the first rail surface 354 and the second rail surface 360, the alignment passage 346 may be better accessed by a user, which may facilitate inspection (e.g., identifying damage), cleaning, and manufacture of the tracker 300.

As described above, the clamp fastener 282 is disposed in the fastener aperture 344 and is engageable with the clamp aperture 280 of the accessory mount 262. The clamping fastener 282 is configured to urge the top surface 278 of the body portion 272 toward the clamp surface 342 of the accessory socket 340. When the clamping fastener 282 is received in the clamping aperture 280 and tightened, the clamping fastener 282 exerts a compressive force on the accessory mount 262 against the accessory socket 340, thereby urging the alignment post 276 into engagement with the alignment channel 346. In other words, the clamping fastener 282 pulls the top surface 278 toward the clamp surface 342 such that the alignment post 276 is pushed into the alignment channel 346. Typically, alignment posts 276 are wider than alignment channels 346 to promote repeatable alignment when engaged. In addition, when alignment post 276 is wider than alignment channel 346, alignment post 276 is fully inserted into alignment channel 346 before top surface 278 engages clamping surface 342. The clamping fastener 282 is disposed near the distal end of the tracker 300 to position the tracker frame 302 proximal of the accessory mount 262. In this way, when the accessory socket 340 is engaged with the accessory mount 262, the tracking indicia 322 is disposed proximally of the clamping fastener 282 and proximally of the accessory mount 262.

By reducing the radial clearance between the clamping fastener 282 and the fastener hole 344, as well as the length of the clamping fastener 282, ease of assembly of the tracker 300 to the accessory 240 may be improved. By reducing this radial clearance, loosening of the clamping fastener 282 in the fastener hole 344 is reduced, which allows the clamping fastener 282 to slide easily within the fastener hole 344 when the tracker 300 is assembled to the accessory mount 262. Further, the clamping fastener 282 may be retained restrictively in the fastener aperture 344. The restrained fastener prevents the clamping fastener 282 from being easily removed from the fastener aperture 344 and may further reduce loosening of the clamping fastener 282. In one exemplary embodiment shown herein, the accessory socket may further include a capture washer 370, the capture washer 370 being disposed about a groove on the clamp fastener 282 at a height positioned within the fastener aperture 344. The capture washer 370 retains the clamp fastener 282 in the fastener aperture 344 to assist a caregiver in assembling the tracker 300 to the accessory mount 262. The capture washer 370 may be formed of a polymeric material such as Polyetheretherketone (PEEK). Other materials are also contemplated. Other embodiments are also contemplated, such as springs, wave washers, and rubber O-rings. For example, an O-ring may be disposed around the clamp fastener 282 in the fastener bore 344 to restrictively retain the clamp fastener 282 in the fastener bore 344. The O-ring may be formed of a rubber material (e.g., nitrile rubber, fluoro-rubber, silicone, EPDM, etc.) that grips the inner surface of the fastener hole 344 and the clamp fastener 282 to increase the force required to move the clamp fastener 282. The O-ring may also hold the clamp fastener 282 in a retracted position with the threaded end recessed below the clamp surface 342.

Once the tracker 300 has been assembled to the accessory 240 and the clamping fasteners 282 tightened, the present coupling arrangement may be subjected to intense and/or high frequency vibrations during use. To prevent these vibrations from loosening the clamp fastener 282, a second washer 372 may be disposed adjacent the fastener hole 344 to receive the clamp fastener 282. A second washer 372 may be disposed between the head portion of the clamp fastener 282 and the follower 300. Similar to the capture washer 370, the second washer 372 may be formed of a polymeric material, such as Polyetheretherketone (PEEK), that grips the head portion of the clamp fastener 282 to increase the force required to loosen the clamp fastener 282, thereby preventing relative movement between the clamp fastener 282 and the fastener hole 344. Other materials are also contemplated. Other materials are also contemplated such as the following: buna-N, viton fluororubber, silicone, EPDM, neoprene and other rubber materials. Other embodiments are also contemplated, such as springs, wave washers, and the like.

Similar to the alignment posts 276 described above, the accessory socket 340 can include any suitable number of alignment channels 346 for secure engagement with the accessory mount 262. The one or more alignment channels 346 may be further defined as eight alignment channels, such as shown herein. Other numbers of alignment channels are also contemplated. The alignment channels 346 may be arranged radially in a circular pattern about the fastener holes 344 to limit rotational movement between the accessory socket 340 and the accessory mount 262. Here, the alignment channel 346 is shaped to have an elongated pyramid shape.

In addition to the longitudinal plane P1 described above, the tracker 300 also defines a tracker plane P2. More specifically, tracker plane P2 is defined by at least three of markers 322. To this end, the tracker frame 302 may be disposed between the accessory socket 340 and the tracker plane P2, or in other words, the tracker frame 302 may be disposed between the accessory socket 340 and the marker 322. Additionally, the tracker 300 may be coupled and arranged such that the tracker plane P2 is parallel to the instrument axis A1.

Various embodiments of the tracker 300 shown herein may include a tracker frame 302 formed of a material that may include a metal (e.g., titanium), a polymer (e.g., nylon), or an epoxy (e.g., an aromatic epoxy). The tracker frame 302 may comprise any other material suitable for use in a medical setting and providing the necessary rigid structure for the tracker 300. The tracker frame 302 may be formed using an injection molding or additive manufacturing process, forming the tracker frame 302 as a single unitary body. By forming the tracker frame 302 as a single unitary body, certain manufacturing steps may be omitted. In addition, dimensional accuracy of the tracker frame 302 may be improved by reducing tolerance stack-up. Further, by eliminating any connections between parts, the stiffness of the tracker frame 302 may be increased. The geometry created for the purpose of connecting the various parts together may be eliminated, further reducing the weight of the tracker frame 302 and the need to control the accuracy of the mating surfaces. In another exemplary embodiment of the tracker, the tracker frame 302 may be formed using a stereolithography process and epoxy. Alternatively, the tracker frame 302 may be assembled using two or more separate parts that have been formed by an injection molding process, a blow molding process, a rotational molding process, or the like. The various parts of the tracker frame 302 may be assembled using adhesives (e.g., epoxy), fasteners, interlocking components, heat stakes, and combinations thereof.

As described above, the tracker 300 may also include a tracker array 320 having a plurality of tracking marks 322. Tracking markers 322 may be implemented as LED emitters, as described above. Accordingly, tracking tag 322 may be configured to receive power from battery 318. The tracker 300 may include a circuit 374 that places the tracking tag 322 in electrical communication with the battery 318. The circuit 374 may include one or more printed circuit boards, wires, connectors, and/or other conductors. The circuit 374 may also include a positive terminal 376 and a negative terminal 378, respectively, disposed in the battery receptacle 316, as shown in fig. 6. The circuit 374 facilitates electrical communication between the positive and negative terminals 376, 378 and the tracking marks 322.

Each of the positive and negative terminals 376, 378 are each configured to engage corresponding positive and negative terminals (not shown) of the battery 318. Prior to performing a procedure using the tracker 300, one or more sterilization processes may be performed on the tracker 300 to remove all contaminants on the tracker 300. In some cases, the tracker 300 may be sterilized in its fully assembled state, including the battery 318 disposed in the battery receptacle 316. The tracker 300 may be stored for an unknown period of time after the sterilization process. To prevent the battery 318 from discharging during this storage, the tracker 300 may also include a spacer 382, the spacer 382 being disposed between the battery 318 and the positive and negative terminals 376 and 378 of the circuit to prevent current flow to the tracking markers 322. The spacer 380 is lightweight and inexpensive, which eliminates the need for a switch for the circuit 374, further reducing the cost of the tracker 300.

At the beginning of the tracking procedure, a surgeon or other medical professional activates the tracker 300 by removing the spacer 380 from the tracker 300 to enable electrical communication between the tracking markers 322 and the battery 318. In other words, removing the spacer 380 from the tracker 300 allows electricity to flow between each of the positive and negative terminals 376, 378 and the corresponding terminal on the battery 318.

In the embodiment shown herein, the separator 380 includes a first separator member 382A and a second separator member 382B that are connected together to form a single separator 380 that extends between the positive terminal 376 and the negative terminal 378. Connecting the spacer members 382A, 382B as a single spacer 380 allows a user to remove both spacer members 382A, 382B simultaneously. It is contemplated that the first 382A and second 382B spacer members may be discrete spacer strips. The first and second spacer members 382A, 382B may be formed using a non-conductive polymer, mylar, or Kapton material. Other materials are also contemplated.

To maintain sterility of the tracker 300 during such storage, the tracker 300 is packaged in a sterile packaging system 450, as shown in fig. 28-31. The sterile packaging system 450 allows the tracker 300 to be transported and stored in a non-sterile environment while maintaining sterility. Sterile packaging system 450 may include a housing portion 452, an insertion portion 454, and a sealing membrane 456. The housing portion 452, the insert portion 454 and the sealing film 456 may form a blister package.

The housing portion 452 may define a sterile interior 458 that is shaped to receive the tracker 300 for sterile processing. The sterile interior 458 may include one or more protrusions 460 that support the tracker 300 in a particular orientation. For example, the tracker 300 is shown in an upright position with the elongate portion 312 and the top surface 314 generally facing away from the housing portion 452 (or opening toward the housing portion 452). The opening of the housing portion 452 is defined in part by an opening face 462, which is a generally planar face surrounding the sterile interior 458. Sealing film 456 is disposed over sterile interior 458 and cooperates with open face 462 to seal tracker 300 within sterile packaging system 450. Sealing film 456 engages open face 462 and prevents foreign objects from entering sterile interior 458.

Sealing membrane 456 may be a gas permeable membrane, for example of the type used for ethylene oxide sterilization. Sealing film 456 may be formed from a high density polyethylene material such as Tyvek (trade mark DuPont). The sealing film 456 may be sealed to the opening face 462 of the housing portion 452 with an adhesive, a melt seal, an ultrasonic seal, or the like.

As best shown in fig. 29 and 30, the insertion portion 454 of the sterile packaging system 450 may include one or more undercuts 464 configured to engage with the tracker 300. The insertion portion 454 is positioned in the sterile interior 458 with the tracker 300 disposed between the insertion portion 454 and the housing portion 452. Undercut 464 is the area of insert portion 454 defined by the contour geometry that captures the manufacturing mold in a manner that prevents demolding. An undercut 464 is disposed on the insert portion 454 to define a cavity 466 shaped to receive a portion of the tracker 300. Here, the cavity 466 is configured to receive the elongated portion 312 of the tracker 300. The undercut 464 generally matches the angled shape of the tracker 300 such that when the extension 312 is inserted into the cavity 466, the width of the tracker 300 is greater than the width between the opposing undercut 464. Because the width between the opposing undercuts 464 is less than the corresponding width of the tracker, the elongated portion 312 is retained in the cavity 466 and the insertion portion 454 is releasably coupled to the tracker 300.

The insertion portion 454 may also include a handle 468 on an opposite side of the undercut 464 to facilitate grasping of the tracker 300 by the user through the insertion portion 454. The user is able to grasp the handle 468 of the insertion portion 454 and remove the insertion portion 454 and the tracker 300 from the housing portion 452 simultaneously without making direct contact with the tracker 300, thereby helping to maintain sterility. The handles 468 are also arranged such that deflection of the insert portion 454 due to pressure of a user grasping the handles 468 causes a reduction in the width between the opposing undercuts 464. In other words, the pressure of the user's grip is transferred in part from the handle 468 to the undercut 464, which prevents the accidental disengagement of the tracker 300 from the insertion portion 454. The insertion portion 454 also prevents movement of the tracker 300 within the sterile interior 458. The insertion portion 454 and the tracker 300 are both sealed within the sterile interior 458 by a sealing membrane 456.

Fig. 30 and 31 illustrate a user removing the tracker 300 from the sterile interior 458 by grasping the handle 468 and raising both the tracker 300 and the insertion portion 454. While still gripping the handle 468, the user can manipulate the tracker 300 to assemble the tracker 300 to the surgical instrument 200. Since the user does not directly manipulate the tracker 300, the likelihood of contaminating the tracker 300 prior to the medical procedure is reduced.

Turning now to fig. 18-27, a second exemplary embodiment of a navigation tracker 1300 is shown. As will be appreciated from the following description, the second tracker 1300 is similar to the tracker 300 described above in connection with fig. 2-13. Accordingly, components and structural features of the second embodiment of the tracker 1300 that are identical or corresponding to those of the first embodiment of the tracker 300 are denoted by the same reference numerals, plus 1000 (e.g., 300 and 1300). Although differences between these forms will be described in detail, for purposes of clarity, consistency, and brevity, only certain structural features and components common between these forms will be discussed and depicted in the drawings of the second embodiment of the tracker 1300. Here, the above description of the first embodiment of the tracker 300 for the second embodiment of the tracker 1300 may be incorporated by reference, but is not limiting, unless otherwise stated.

In fig. 20 and 21, a close-up perspective view of a second embodiment of a surgical instrument 200 and a tracker 1300 is shown. Here, the tracker 1300 may include a tracker frame 1302 for supporting a plurality of tracking markers 1322 and an accessory socket 1340 for securing the tracker frame 1302 to the surgical instrument 200. As shown in fig. 19, tracker 1300 is shown being removed/assembled to accessory 240. The tracker 1300 is shown in a partially assembled state in which the accessory socket 1340 is disengaged from the accessory mount 262. The arrow indicates a step of the removal process, wherein the tracker 1300 is first raised to disengage the alignment channel 1346 from the alignment post 276, and then the tracker 1300 is moved in a distal direction (i.e., toward the accessory 240) relative to the accessory mount 262. By inserting the accessory mount 262 through the socket opening 348 and moving the tracker 1300 in a proximal direction (i.e., away from the accessory 240), the tracker 1300 can be assembled to the accessory 240 in the reverse order.

When the navigation system determines the position and orientation of the tracker 1300, it is advantageous that the tracker 1300 remain in the same position relative to the surgical instrument 200 to maximize accuracy. Accordingly, to maximize accuracy, the tracker frame 1302 and the accessory socket 340 are preferably sufficiently rigid to prevent deformation or movement of the indicia of the tracker frame 1302 relative to the surgical instrument 200. The need to minimize bending or deformation of the tracker frame 1302 is limited by the need to minimize the weight of the tracker frame 1302. The two above-mentioned requirements may also be limited by the following requirements: it is desirable to improve accuracy by using a large array of tracking marks 1322 and to eliminate the surgeon's obstruction of manipulation of the surgical instrument 200 by using a compact tracker 1300.

Referring to fig. 20-24, in an exemplary configuration, a tracker 1300 may include a tracker frame 1302 having at least one arm 1400, 1402, 1404, 1406 protruding therefrom. The tracker plane P2 may be defined parallel to and spaced apart from the instrument axis A1 of the handheld surgical instrument 200, as shown in fig. 24. The tracker 1300 may be disposed above the surgical instrument 200 and generally aligned with the tracker plane P2.

In fig. 21, the at least one arm 1400, 1402, 1404, 1406 may be further defined as a first arm 1400, 1404 and a second arm 1402, 1406, or alternatively a pair of distal arms 1400, 1402 and a pair of proximal arms 1404, 1406. Each arm 1400, 1402, 1404, 1406 protrudes from the body portion 1408 of the tracker frame 1302 to an end spaced apart from the body portion 1408 and includes a marker support portion 1410 disposed at the end spaced apart from the tracker frame 1302. Each marker support portion 1410 may define a post bore 1412 that may be configured to receive a marker post 1414, which may be configured to engage the tracking marker 1322. In the illustrated exemplary embodiment of the tracker 1300, the tracking marks 1322 may be reflective spheres or retroreflectors that reflect visible light (typically infrared) to the locator. It is envisaged to replace the spherical tracking marks with LED tracking marks. When configured as an LED emitter, the marker post 1414 may be omitted and the tracking marker mounted directly on the marker support portion 1410. Other configurations are also contemplated.

Each arm 1400, 1402, 1404, 1406 also has a length and a width. The ratio of length to width may exceed four (4). In other words, the length of each arm 1400, 1402, 1404, 1406 may be at least 4 times the width. It should be appreciated that each arm 1400, 1402, 1404, 1406 may have a respective length and a respective width, and that the length and width may vary between each arm so that the ratio of length to width may exceed 4.

One way to minimize obstruction to the surgeon is to position the arms 1400, 1402, 1404, 1406 of the tracker 1300 away from the working end of the surgical instrument 200. The arms may be configured to have different lengths such that the marker support portion 1410 is arranged with a proximal offset. More specifically, the pair of proximal arms 1404, 1406 extend a first distance from the body portion 1408 and the pair of distal arms 1400, 1402 extend a second distance from the body portion 1408, the first distance being greater than the second distance. In other words, the marker support portion 1410 disposed proximal to the body portion 1408 is spaced farther from the body portion 1408 than the marker support portion 1410 disposed distal to the body portion 1408.

To this end, the tracker 1300 may be configured at different angles relative to the insertion axis A2 such that the marker support portion 1410 is arranged with an axial center offset. In other words, the marker support portions 1410 are spaced apart a distance in the proximal-distal direction that is greater than the spacing transverse to the insertion axis A2. As best shown in fig. 26, the tracker 1300 has a length 1416 and a width 1418 defined by the arms 1400, 1402, 1404, 1406, and a ratio of the length 1416 to the width 1418 is greater than 1.5. More specifically, the length 1416 of the spacing between the marker support portions 1410 on the pair of proximal arms 1404, 1406 and the corresponding marker support portions on the distal arms 1400, 1402 is at least 1.5 times the width 1418 of the spacing between the marker support portions on the first arms 1400, 1404 and the corresponding marker support portions on the second arms 1402, 1406.

The tracker 1300 may also include a bridging portion 1420, the bridging portion 1420 being spaced apart from the body portion 1408 in a proximal direction and extending between the first and second arms 1404, 1406. As such, the bridge portion 1420, the first arm 1404, the second arm 1406, and the tracker frame 1302 cooperate to define an opening 1422 in the tracker 1300. Marks 1322 are disposed generally about opening 1422 and spaced apart from opening 1422.

Several cases have been discussed in the foregoing description. However, the aspects discussed herein are not intended to be exhaustive or to limit the disclosure to any particular form. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. The terminology used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations are possible in light of the above teaching and the present disclosure may be practiced otherwise than as specifically described.

Clause of (b)

I. A tracker attachment for a high speed drilling apparatus, the tracker attachment comprising: an accessory body extending from a proximal end to a distal end, wherein the proximal end is configured to engage the distal end of a motor body of a high speed drilling apparatus; a tool holder supported by the accessory body and configured for receiving a material removal tool disposed at a working end of a high speed drilling apparatus; a drive shaft supported in the accessory body and operatively coupled to a tool holder; and a cantilever coupled to the accessory body and extending in a proximal direction, wherein a proximal end of the cantilever is positioned proximal to a proximal end of the accessory body.

The tracker accessory of clause I, wherein the cantilever is coupled to the accessory body using an interference fit.

The tracker attachment of clause I, wherein the cantilever is welded to the attachment body.

The tracker attachment of clause I, wherein the cantilever has an arcuate profile.

V. the tracker attachment of clause I, wherein the cantilever includes an attachment mount comprising: a body portion having a top surface and defining a clamping aperture in the top surface; and first and second wing portions projecting from opposite sides of the body portion transversely to the top surface, wherein the first wing portion has a first lateral face and the second wing portion has a second lateral face, wherein the first and second lateral faces are symmetrically angled with respect to a longitudinal plane of the high speed drilling apparatus.

The tracker attachment of clause V, wherein the attachment mount further comprises one or more alignment posts protruding from the top surface.

The tracker attachment of clause V, wherein the cantilever and the attachment mount are integrally formed.

The tracker attachment of clause I, wherein the attachment body further comprises a coupling portion disposed at the proximal end of the attachment body and engageable with a motor body of a high speed drilling apparatus, and a mounting flange.

IX. a system for tracking the position of a rotary cutting tool, the system comprising: rotating the cutting tool; a surgical handpiece including a motor body; a surgical instrument accessory, the surgical instrument accessory comprising: an accessory body extending from a proximal end to a distal end, wherein the proximal end is configured to engage the distal end of the motor body; and a cantilever coupled to the accessory body and extending in a proximal direction to an accessory mount, wherein the accessory mount is disposed proximal of the proximal end of the accessory body and spaced apart from the surgical handpiece; a tracker, the tracker comprising: a tracker frame configured to engage the accessory mount; and at least three optical markers coupled to the tracker frame; and wherein the tracker is disposed proximal to the accessory body when the tracker frame is engaged with the accessory mount.

The system of clause IX, wherein the tracker is spaced apart from the surgical handpiece when the tracker frame is engaged with the accessory mount.

The system of clause IX, wherein the tracker frame radially surrounds the surgical handpiece when the tracker frame is engaged with the accessory mount.

The system of clause IX, wherein the tracker frame defines an instrument aperture, and wherein a surgical handpiece is disposed in the instrument aperture when the tracker frame is engaged with the accessory mount.

The system of clause IX, wherein the surgical instrument attachment further comprises a tool holder supported in the attachment body and configured to receive the rotary cutting tool and a drive shaft supported in the attachment body and operably coupled to the tool holder.

The system of clause IX, wherein the accessory body comprises a coupling portion disposed at a proximal end of the accessory body and engageable with the motor body, and wherein the cantilever is coupled to the accessory body away from the coupling portion.

XV. the system of clause IX, wherein the accessory mount is spaced a first distance proximal of the proximal end of the accessory body and radially from the surgical handpiece a second distance, wherein the first distance is greater than the second distance.

XVI the tracker attachment of clause XV, wherein the first distance is at least 1.5 times the second distance.

XVII. the system according to clause XV, wherein the first distance is at least 2 times the second distance.

Xviii. a coupling arrangement for coupling a surgical instrument tracker to a surgical instrument, the coupling arrangement comprising: an accessory mount coupled to a surgical instrument, the accessory mount comprising: a body portion having a top surface and defining a clamping aperture in the top surface; a first side wing portion and a second side wing portion projecting transversely from opposite sides of the main body portion from the top surface, wherein the first side wing portion has a first lateral surface and the second side wing portion has a second lateral surface, wherein the first and second lateral surfaces are symmetrically angled with respect to a longitudinal plane of the accessory mount; and one or more alignment posts protruding from the top surface; and an accessory socket coupled to the surgical instrument tracker, the accessory socket comprising: a clamping surface defining a fastener hole; one or more alignment channels recessed into the clamping surface and configured to complementarily engage the one or more alignment posts; a first socket wall extending from the clamping surface and having a first rail surface spaced apart from the clamping surface and a first ramp surface extending between the first rail surface and the clamping surface; and a second socket wall extending from the clamping surface and having a second rail surface spaced apart from the clamping surface and a second ramp surface extending between the second rail surface and the clamping surface; and a clamping fastener disposed in the fastener hole and engageable with the clamping hole, wherein the clamping fastener is configured to bias the top surface of the body portion toward the clamping surface of the accessory socket such that the one or more alignment posts engage the one or more alignment channels.

The coupling arrangement of clause XVIII, wherein the first socket wall and the second socket wall are symmetrically angled with respect to a longitudinal plane of the surgical instrument.

XX. the coupling arrangement according to clause XIX, wherein the angle of the first socket wall is the same as the angle of the first lateral face of the first side wing portion with respect to the longitudinal plane of the surgical instrument, and the angle of the second socket wall is the same as the angle of the second lateral face of the second side wing portion with respect to the longitudinal plane of the surgical instrument.

Xxi. the coupling arrangement according to clause XVIII, wherein the one or more alignment posts are further defined as eight alignment posts.

Xxii. the coupling arrangement according to clause XXI, wherein the eight alignment posts are arranged radially around the clamping hole.

Xxiii the coupling arrangement of clause XXII, wherein the clamping fastener is retained restrictively in the fastener hole.

Xxiv the coupling arrangement of clause XVIII, wherein the accessory socket further comprises an O-ring disposed in the fastener bore around the clamping fastener to restrictively retain the clamping fastener in the fastener bore.

The coupling arrangement of clause XVIII, further comprising a rubber washer disposed adjacent to the fastener hole and surrounding the clamping fastener to prevent relative movement between the clamping fastener and the fastener hole.

Xxvi the coupling arrangement according to clause XVIII, wherein the first socket wall is arranged on the opposite side of the longitudinal plane of the surgical instrument from the second socket wall.

Xxvii. a sterile packaging system for a tracker for surgical navigation, comprising: a sterile tracker, the sterile tracker comprising: a tracker frame defining a battery receptacle; a circuit including positive and negative terminals disposed in the battery receptacle and a plurality of tracking marks in electrical communication with the positive and negative terminals; a battery disposed in the battery receptacle between the positive terminal and the negative terminal; a separator member disposed between the battery and each of the positive and negative terminals; and a blister package, the blister package comprising: a housing portion defining a sterile interior shaped to receive a sterile tracker; and a sealing film cooperating with the housing portion and disposed over the sterile interior to seal the sterile tracker within the blister package.

Xxviii. the aseptic packaging system of clause XXVII, wherein the plurality of tracking markers are further defined as a plurality of LED emitters.

Xxix the aseptic packaging system of clause XXVII, wherein the circuit does not comprise a switch.

The aseptic packaging system of clause XXVII, wherein the blister package further comprises an insertion portion having a protrusion configured to engage the aseptic tracker, and wherein the insertion portion is positioned in the aseptic interior with the aseptic tracker disposed between the insertion portion and the housing portion.

Xxxi. the sterile packaging system of clause XXX, wherein the sterile tracker further comprises a clamping surface defining a fastener aperture, and a clamping fastener disposed in the fastener aperture and recessed from the clamping surface; and wherein the insertion portion includes a shelf portion adjacent the fastener hole for preventing the clamping fastener from protruding from the clamping surface when the sterile tracker is disposed within the sterile interior.

Xxxii. a coupling arrangement for coupling a surgical instrument tracker to a surgical instrument, the coupling arrangement comprising: an accessory mount coupled to a surgical instrument, the accessory mount comprising: a body portion having a top surface and defining a clamping aperture in the top surface; a first side wing portion and a second side wing portion projecting transversely from opposite sides of the main body portion from the top surface, wherein the first side wing portion has a first lateral surface and the second side wing portion has a second lateral surface, wherein the first and second lateral surfaces are symmetrically angled with respect to a longitudinal plane of the accessory mount; and one or more alignment posts protruding from the top surface; and an accessory socket coupled to the surgical instrument tracker and defining a socket opening, the accessory socket comprising: a clamping surface defining a fastener hole; one or more alignment channels recessed into the clamping surface and configured to complementarily engage the one or more alignment posts; a distal wall disposed at a distal end of the accessory socket opposite the socket opening; and first and second socket walls, each socket wall coupled to the clamping surface and extending proximally from the distal wall to the socket opening; and a clamping fastener disposed in the fastener hole and engageable with the clamping hole, wherein the clamping fastener is configured to bias the top surface of the body portion toward the clamping surface of the accessory socket such that the one or more alignment posts engage the one or more alignment channels.

Xxxiii the coupling arrangement of clause XXXII, wherein the first socket wall includes a first rail surface spaced apart from the clamping surface and a first ramp surface extending between the first rail surface and the clamping surface, and wherein the second socket wall includes a second rail surface spaced apart from the clamping surface and a second ramp surface extending between the second rail surface and the clamping surface.

Xxxiv the coupling arrangement of clause XXXIII, wherein the passage opening is defined in and extends through each of the first and second rail surfaces.

Xxxv. a coupling arrangement according to clause XXXIV, wherein the passage opening is arranged in alignment with one of the one or more alignment passages.

Xxxvi the coupling arrangement of clause XXXIII, wherein the mount seat width is defined between the first and second lateral faces, and wherein the seat width is defined between the first and second ramp surfaces, wherein the seat width is greater than the mount seat width.

Xxxvii. the coupling arrangement of clause XXXIII, wherein the mount height is defined between a lowest point of the first side wing portion and a highest point of the one or more alignment posts, and wherein the socket opening height is defined between the clamp surface and the first rail surface, and wherein the socket opening height is greater than the mount height.

Xxxviii. The coupling arrangement according to clause XXXVII, wherein the first socket wall and the second socket wall are symmetrically angled with respect to a longitudinal plane of the surgical instrument.

Xxxix. The coupling arrangement of clause XXXVIII, wherein the angle of the first socket wall is the same as the angle of the first lateral face of the first side wing portion relative to the longitudinal plane of the surgical instrument, and the angle of the second socket wall is the same as the angle of the second lateral face of the second side wing portion relative to the longitudinal plane of the surgical instrument.

XL. the coupling arrangement according to clause XXXII, wherein the one or more alignment posts are arranged radially around the clamping hole.

Xli. the coupling arrangement of clause XXXII, wherein the one or more alignment posts are further defined as eight alignment posts.

Xlii. the coupling arrangement of clause XLI, wherein the clamping fastener is retained restrictively in a fastener hole.

Xliii. the coupling arrangement of clause XXXII, wherein the accessory socket further comprises a washer disposed in the fastener hole around the clamping fastener to restrictively retain the clamping fastener in the fastener hole.

Xliv. the coupling arrangement of clause XXXII, further comprising a washer disposed about the clamping fastener adjacent the fastener aperture to reduce relative movement between the clamping fastener and the fastener aperture.

Xlv. the coupling arrangement of clause XXXII, wherein the first socket wall is arranged on the opposite side of the longitudinal plane of the surgical instrument from the second socket wall.

Xlvi a system for tracking the position of a rotary cutting tool, the system comprising: rotating the cutting tool; a surgical handpiece including a motor body; a surgical instrument accessory, the surgical instrument accessory comprising: an accessory body extending from a proximal end to a distal end, wherein the proximal end is configured to engage the motor body; and a cantilever coupled to the accessory body and extending in a proximal direction to an accessory mount, wherein the accessory mount is disposed proximal of the proximal end of the accessory body and spaced apart from the surgical handpiece; a tracker, the tracker comprising: a tracker frame; an accessory socket coupled to the tracker frame and configured to engage an accessory mount; at least three optical markers coupled to the tracker frame; and wherein the at least three optical markers are disposed proximal of the accessory body when the accessory socket is engaged with the accessory mount.

Xlviii the system according to clause XLVI, wherein the tracker is spaced apart from the surgical handpiece when the tracker frame is engaged with the accessory mount.

The system of clause xlviii, wherein the surgical instrument defines an instrument axis, and wherein a plane defined by the at least three optical markers is parallel to the instrument axis.

Xlix the system of clause XLVI, wherein the surgical instrument attachment further comprises a tool holder supported in the attachment body and configured to receive the rotary cutting tool and a drive shaft supported in the attachment body and operably coupled to the tool holder.

The system of clause XLVI, wherein the accessory body includes a coupling portion disposed at a proximal end of the accessory body and engageable with the motor body, and wherein the cantilever is coupled to the accessory body distal of the coupling portion.

LI. the system according to clause XLVI, wherein the tracker frame is disposed between the accessory socket and the at least three optical markers.

Claims (32)

1. A tracker attachment for a high speed drilling apparatus, the tracker attachment comprising:

an accessory body extending from a proximal end to a distal end, wherein the proximal end is configured to engage the distal end of a motor body of a high speed drilling apparatus;

a tool holder supported by the accessory body and configured for receiving a material removal tool disposed at a working end of a high speed drilling apparatus;

A drive shaft supported in the accessory body and operatively coupled to a tool holder; and

A cantilever coupled to the accessory body and extending in a proximal direction, wherein a proximal end of the cantilever is positioned proximal to a proximal end of the accessory body.

2. The tracker accessory of claim 1, wherein the cantilever is coupled to an accessory body using an interference fit.

3. The tracker attachment of claim 1 wherein the cantilever is welded to the attachment body.

4. The tracker attachment of claim 1 wherein the cantilever has an arcuate profile.

5. The tracker attachment of claim 1, wherein the cantilever comprises an attachment mount comprising:

A body portion having a top surface and defining a clamping aperture in the top surface; and

A first side wing portion and a second side wing portion projecting from opposite sides of the main body portion transversely to the top surface, wherein the first side wing portion has a first lateral face and the second side wing portion has a second lateral face, wherein the first and second lateral faces are symmetrically angled with respect to a longitudinal plane of the high speed drilling apparatus.

6. The tracker attachment of claim 5, wherein the attachment mount further comprises one or more alignment posts protruding from a top surface.

7. The tracker attachment of claim 5 wherein the cantilever and the attachment mount are integrally formed.

8. The tracker attachment of claim 1, wherein the attachment body further comprises a coupling portion disposed at a proximal end of the attachment body and engageable with a motor body of a high speed drilling apparatus, and a mounting flange.

9. A system for tracking a position of a rotary cutting tool, the system comprising:

Rotating the cutting tool;

a surgical handpiece including a motor body;

a surgical instrument accessory, the surgical instrument accessory comprising:

an accessory body extending from a proximal end to a distal end, wherein the proximal end is configured to engage the distal end of the motor body; and

A cantilever coupled to the accessory body and extending in a proximal direction to an accessory mount, wherein the accessory mount is disposed proximal of a proximal end of the accessory body and spaced apart from the surgical handpiece;

A tracker, the tracker comprising:

A tracker frame configured to engage the accessory mount; and

At least three optical markers coupled to the tracker frame; and

Wherein the tracker is disposed proximal to the accessory body when the tracker frame is engaged with the accessory mount.

10. The system of claim 9, wherein the tracker is spaced apart from the surgical handpiece when the tracker frame is engaged with the accessory mount.

11. The system of claim 9, wherein the tracker frame radially surrounds the surgical handpiece when the tracker frame is engaged with the accessory mount.

12. The system of claim 9, wherein the tracker frame defines an instrument aperture, and wherein a surgical handpiece is disposed in the instrument aperture when the tracker frame is engaged with an accessory mount.

13. The system of claim 9, wherein the surgical instrument accessory further comprises a tool holder supported in the accessory body and configured to receive a rotary cutting tool and a drive shaft supported in the accessory body and operably coupled to the tool holder.

14. The system of claim 9, wherein the accessory body includes a coupling portion disposed at a proximal end of the accessory body and engageable with the motor body, and wherein the cantilever is coupled to the accessory body distal of the coupling portion.

15. The system of claim 9, wherein the accessory mount is spaced a first distance proximal of the proximal end of the accessory body and radially from the surgical handpiece a second distance, wherein the first distance is greater than the second distance.

16. The system of claim 15, wherein the first distance is at least 1.5 times the second distance.

17. The system of claim 15, wherein the first distance is at least 2 times the second distance.

18. A coupling arrangement for coupling a surgical instrument tracker to a surgical instrument, the coupling arrangement comprising:

An accessory mount coupled to a surgical instrument, the accessory mount comprising:

a body portion having a top surface and defining a clamping aperture in the top surface;

a first side wing portion and a second side wing portion projecting transversely from opposite sides of the main body portion from the top surface, wherein the first side wing portion has a first lateral surface and the second side wing portion has a second lateral surface, wherein the first and second lateral surfaces are symmetrically angled with respect to a longitudinal plane of the accessory mount; and

One or more alignment posts protruding from the top surface; and

An accessory socket coupled to a surgical instrument tracker, the accessory socket comprising:

A clamping surface defining a fastener hole;

One or more alignment channels recessed into the clamping surface and configured to complementarily engage the one or more alignment posts;

A first socket wall extending from the clamping surface and having a first rail surface spaced apart from the clamping surface and a first ramp surface extending between the first rail surface and the clamping surface; and

A second socket wall extending from the clamping surface and having a second rail surface spaced apart from the clamping surface and a second ramp surface extending between the second rail surface and the clamping surface; and

A clamping fastener disposed in the fastener hole and engageable with the clamping hole, wherein the clamping fastener is configured to bias the top surface of the body portion toward the clamping surface of the accessory socket such that the one or more alignment posts engage the one or more alignment channels.

19. The coupling arrangement of claim 18, wherein the first and second socket walls are symmetrically angled with respect to a longitudinal plane of the surgical instrument.

20. The coupling arrangement of claim 19, wherein an angle of the first socket wall is the same as an angle of a first lateral face of the first wing portion relative to a longitudinal plane of the surgical instrument, and an angle of the second socket wall is the same as an angle of a second lateral face of the second wing portion relative to the longitudinal plane of the surgical instrument.

21. A coupling arrangement as set forth in claim 18 wherein said one or more alignment posts are further defined as eight alignment posts.

22. The coupling arrangement of claim 21, wherein the eight alignment posts are arranged radially about the clamping hole.

23. The coupling arrangement of claim 22, wherein the clamping fastener is retained captively in a fastener hole.

24. The coupling arrangement of claim 18 wherein the accessory socket further comprises an O-ring disposed in the fastener bore around the clamping fastener to captively retain the clamping fastener in the fastener bore.

25. The coupling arrangement of claim 18, further comprising a rubber washer disposed adjacent to the fastener hole and surrounding the clamping fastener to prevent relative movement between the clamping fastener and the fastener hole.

26. The coupling arrangement of claim 18, wherein the first socket wall is arranged on an opposite side of a longitudinal plane of the surgical instrument from the second socket wall.

27. A sterile packaging system for a tracker for surgical navigation, comprising:

A sterile tracker, the sterile tracker comprising:

A tracker frame defining a battery receptacle;

A circuit including positive and negative terminals disposed in the battery receptacle and a plurality of tracking marks in electrical communication with the positive and negative terminals;

A battery disposed in the battery receptacle between the positive terminal and the negative terminal;

A separator member disposed between the battery and each of the positive and negative terminals; and

A blister package, the blister package comprising:

a housing portion defining a sterile interior shaped to receive a sterile tracker; and

A sealing membrane cooperating with the housing portion and disposed over the sterile interior to seal the sterile tracker within the blister package.

28. The aseptic packaging system of claim 27, wherein the plurality of tracking markers are further defined as a plurality of LED emitters.

29. The aseptic packaging system of claim 27, wherein the circuit does not include a switch.

30. The sterile packaging system of claim 27, wherein the blister package further comprises an insertion portion having a protrusion configured to engage a sterile tracker, and wherein the insertion portion is positioned in the sterile interior with the sterile tracker disposed between the insertion portion and the housing portion.

31. The aseptic packaging system of claim 30, wherein the aseptic tracker further comprises a clamping surface defining a fastener aperture, and a clamping fastener disposed in the fastener aperture and recessed from the clamping surface; and

Wherein the insertion portion includes a shelf portion adjacent the fastener hole for preventing the clamping fastener from protruding from the clamping surface when the sterile tracker is disposed within the sterile interior.

32. A system for tracking a position of a rotary cutting tool, the system comprising:

Rotating the cutting tool;

a surgical handpiece including a motor body;

a surgical instrument accessory, the surgical instrument accessory comprising:

An accessory body extending from a proximal end to a distal end, wherein the proximal end is configured to engage the motor body; and

A cantilever coupled to the accessory body and extending in a proximal direction to an accessory mount, wherein the accessory mount is disposed proximal of the proximal end of the accessory body and spaced apart from the surgical handpiece;

A tracker, the tracker comprising:

A tracker frame;

an accessory socket coupled to the tracker frame and configured to engage an accessory mount;

at least three optical markers coupled to the tracker frame; and

Wherein the at least three optical markers are disposed proximal of the accessory body when the accessory socket is engaged with the accessory mount.