FIELD OF THE DISCLOSURE

The present invention relates to an anti-skid surgical instrument for use in preparing holes in bone tissue during an operation.

BACKGROUND INFORMATION

Spinal surgeries often require precision drilling and placement of screws or other implements in bone tissue. Catastrophic damage or death may result from improper drilling or maneuvering of the body during spinal surgery due to the proximity of the spinal cord and arteries. Further, accurate placement is typically necessary for a successful outcome. For example, spinal fusion is typically augmented by stabilizing the vertebrae with fixation devices, such as metallic screws, rods, and plates, to facilitate bone fusion. In spinal fusion, as well as other surgeries, the accuracy with which the screws are placed in the bone has a direct effect on the outcome of the procedure. The less motion there is between the two bones trying to heal, the higher the change the bones will successfully fuse. The use of fixation devices has increased the success rate of spinal fusion procedures considerably.

Such procedures rely strongly on the expertise of the surgeon, and there is significant variation in success rate among different surgeons. A number of navigational and verification approaches have been developed. However, screw misplacement is still a common problem in such surgical procedures. Screws may be misaligned due to inaccurate holes drilled prior to inserting the screw. The angle of the tip of the drill may cause the drill bit to skid as the tip contacts the bone tissue, thereby causing the hole to be drilled along an incorrect trajectory. Typically, unless a bone drill is driven at 90 degrees to the bone surface there is a tendency for the drill bit to skid over the bone surface thereby placing the hole inappropriately. Thus, there is a need for an anti-skid surgical instrument for preparing holes in a patient's bone while minimizing the risk of the instrument skidding upon contact of the surgical instrument with the bone.

SUMMARY OF EXEMPLARY EMBODIMENTS OF THE PRESENT DISCLOSURE

Described herein is an anti-skid surgical instrument for use in preparing holes in bone tissue. The disclosed surgical instrument provides the ability to prepare a precise hole in bone tissue during surgery (e.g., spinal surgeries and pedicle screw placement, intramedullary screw placement). The disclosed surgical instrument accomplishes precise hole placement regardless of whether the angle between the drill axis and surface of the bone tissue is perpendicular. The disclosed technology includes a flat drilling surface which is perpendicular to the surface of the body of the surgical instrument. This reduces the likelihood of the surgical instrument skidding on the surface of the bone tissue and thereby increases the precision of the hole.

In one aspect, the disclosed technology includes a robotic surgical system for preparing a hole in bone tissue of a patient during surgery, including: a robotic arm having an end effector with a surgical instrument guide attached thereto, the surgical instrument guide arranged to hold and/or restrict movement of an anti-skid surgical instrument therethrough; and the anti-skid surgical instrument having an elongate structure comprising: a mill head at the end of the elongate structure for removing bone tissue with reduced skidding (e.g., unintentional lateral movement of the surgical instrument) of the surgical instrument upon contact of the anti-ski surgical instrument with the bone tissue, wherein the mill head has a flat end substantially perpendicular to a longitudinal axis of the elongate structure, and one or more side-cutting flutes about the longitudinal axis of the elongate structure for cutting into bone tissue; a spike extending from the mill head; a shank for connection to a drill; and a shaft between the mill head and the shank, the shaft having one or more drill flutes (e.g., non-cutting flutes) for evacuating removed bone tissue.

In certain embodiments, the mill head comprises a concave face from which the spike extends.

In certain embodiments, the instrument includes a compliant part that absorbs energy from the mill head.

In certain embodiments, the instrument includes a cannulation in the surgical instrument.

In certain embodiments, the cannulation comprises a hole in the end of the elongate structure (e.g., a tip of the surgical instrument).

In certain embodiments, the compliant part comprises at least one of an elastic material, rubber, a bellow, and a universal joint.

In certain embodiments, the compliant part connects a first portion of the anti-ski surgical instrument to a second portion of the anti-skid surgical instrument.

In certain embodiments, the first portion comprises the mill head and a portion of the shaft and the second portion comprises the shank and a portion of the shaft.

In certain embodiments, the compliant part covers at least a portion of the shank.

In certain embodiments, the compliant part covers at least part of the shaft.

In certain embodiments, the compliant part covers at least part of the shaft and the shank.

In certain embodiments, a depth control.

In certain embodiments, the depth control comprises at least one of one or more markings and one or more colors for depicting depth of insertion.

In certain embodiments, the depth control comprises a first portion indicating when to start rotation of the anti-skid surgical instrument and a second portion indicating when to at least one of stop rotation and stop depth penetration of the anti-ski surgical instrument.

In certain embodiments, the depth control comprises a depth stop that adjustably attached to the anti-skid surgical instrument such that the depth of penetration of the anti-skid surgical instrument changes as a position of the depth stop is changed.

In certain embodiments, the shaft comprises one or more notches and the depth control engages at least one of the one or more notches when attached to the anti-skid surgical instrument.

In certain embodiments, the system comprises a tool support located between the shaft and the shank, wherein: the tool support is shaped and sized to slide through the surgical instrument guide along the axis defined by the guide, and a diameter of the tool support is greater than a diameter of the shank.

In certain embodiments, the end of the mill head has one or more end cutting flutes for cutting axially into the bone tissue.

In certain embodiments, the one or more drill flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, one or more side cutting flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the mill head.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the shank.

In certain embodiments, the one or more drill flutes have a higher twist rate (i.e., larger flute angle) than the one or more side cutting flutes or the one or more drill flutes have a lower twist rate (i.e., smaller flute angle) than the one or more side cutting flutes.

In certain embodiments, the one or more drill flutes have a different twist rate (i.e., different flute angle) than the one or more side cutting flutes.

In certain embodiments, the surgery is spinal, orthopedic, dental, ear, nose, or throat surgery.

In certain embodiments, a manipulator is attached to the robotic arm or molded into the robotic arm.

In another aspect, the disclosed technology includes a robotic surgical system for preparing a hole in bone tissue of a patient during surgery, including: a robotic arm having an end effector with a surgical instrument guide attached thereto, the surgical instrument guide arranged to hold and/or restrict movement of an anti-skid surgical instrument therethrough; and the anti-skid surgical instrument having an elongate structure comprising: a mill head at the end of the elongate structure for removing bone tissue with reduced skidding (e.g., unintentional lateral movement of the surgical instrument) of the surgical instrument upon contact of the anti-ski surgical instrument with the bone tissue, wherein the mill head has a concave end substantially perpendicular to a longitudinal axis of the elongate structure, and one or more side-cutting flutes about the longitudinal axis of the elongate structure for cutting into bone tissue; a shank for connection to a drill; and a shaft between the mill head and the shank, the shaft having one or more drill flutes (e.g., non-cutting flutes) for evacuating removed bone tissue.

In certain embodiments, the instrument includes a spike extending from the concave end of the mill head.

In certain embodiments, the instrument includes a compliant part that absorbs energy from the mill head.

In certain embodiments, the instrument includes a cannulation in the surgical instrument.

In certain embodiments, the cannulation comprises a hole in the end of the elongate structure (e.g., a tip of the surgical instrument).

In certain embodiments, the compliant part comprises at least one of an elastic material, rubber, a bellow, and a universal joint.

In certain embodiments, the compliant part connects a first portion of the anti-ski surgical instrument to a second portion of the anti-skid surgical instrument.

In certain embodiments, the first portion comprises the mill head and a portion of the shaft and the second portion comprises the shank and a portion of the shaft.

In certain embodiments, the compliant part covers at least a portion of the shank.

In certain embodiments, the compliant part covers at least part of the shaft.

In certain embodiments, the compliant part covers at least part of the shaft and the shank.

In certain embodiments, a depth control.

In certain embodiments, the depth control comprises at least one of one or more markings and one or more colors for depicting depth of insertion.

In certain embodiments, the depth control comprises a first portion indicating when to start rotation of the anti-skid surgical instrument and a second portion indicating when to at least one of stop rotation and stop depth penetration of the anti-ski surgical instrument.

In certain embodiments, the depth control comprises a depth stop that adjustably attached to the anti-skid surgical instrument such that the depth of penetration of the anti-skid surgical instrument changes as a position of the depth stop is changed.

In certain embodiments, the shaft comprises one or more notches and the depth control engages at least one of the one or more notches when attached to the anti-skid surgical instrument.

In certain embodiments, the system comprises a tool support located between the shaft and the shank, wherein: the tool support is shaped and sized to slide through the surgical instrument guide along the axis defined by the guide, and a diameter of the tool support is greater than a diameter of the shank.

In certain embodiments, the end of the mill head has one or more end cutting flutes for cutting axially into the bone tissue.

In certain embodiments, the one or more drill flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, one or more side cutting flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the mill head.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the shank.

In certain embodiments, the one or more drill flutes have a higher twist rate (i.e., larger flute angle) than the one or more side cutting flutes or the one or more drill flutes have a lower twist rate (i.e., smaller flute angle) than the one or more side cutting flutes.

In certain embodiments, the one or more drill flutes have a different twist rate (i.e., different flute angle) than the one or more side cutting flutes.

In certain embodiments, the surgery is spinal, orthopedic, dental, ear, nose, or throat surgery.

In certain embodiments, a manipulator is attached to the robotic arm or molded into the robotic arm.

In another aspect, the disclosed technology includes a robotic surgical system for preparing a hole in bone tissue of a patient during surgery, including: a robotic arm having an end effector with a surgical instrument guide attached thereto, the surgical instrument guide arranged to hold and/or restrict movement of an anti-skid surgical instrument therethrough; and the anti-skid surgical instrument having an elongate structure comprising: a mill head at the end of the elongate structure for removing bone tissue with reduced skidding (e.g., unintentional lateral movement of the surgical instrument) of the surgical instrument upon contact of the anti-ski surgical instrument with the bone tissue, wherein the mill head has a flat end substantially perpendicular to a longitudinal axis of the elongate structure, and one or more side-cutting flutes about the longitudinal axis of the elongate structure for cutting into bone tissue; a shank for connection to a drill; a shaft between the mill head and the shank, the shaft having one or more drill flutes (e.g., non-cutting flutes) for evacuating removed bone tissue; and a cannulation in the surgical instrument.

In certain embodiments, the cannulation comprises a hole in the end of the elongate structure (e.g., a tip of the surgical instrument).

In certain embodiments, the instrument includes a compliant part that absorbs energy from the mill head.

In certain embodiments, the instrument includes a spike extending from the mill head.

In certain embodiments, the mill head includes a concave face (e.g., from which the spike extends).

In certain embodiments, the compliant part comprises at least one of an elastic material, rubber, a bellow, and a universal joint.

In certain embodiments, the compliant part connects a first portion of the anti-ski surgical instrument to a second portion of the anti-skid surgical instrument.

In certain embodiments, the first portion comprises the mill head and a portion of the shaft and the second portion comprises the shank and a portion of the shaft.

In certain embodiments, the compliant part covers at least a portion of the shank.

In certain embodiments, the compliant part covers at least part of the shaft.

In certain embodiments, the compliant part covers at least part of the shaft and the shank.

In certain embodiments, a depth control.

In certain embodiments, the depth control comprises at least one of one or more markings and one or more colors for depicting depth of insertion.

In certain embodiments, the depth control comprises a first portion indicating when to start rotation of the anti-skid surgical instrument and a second portion indicating when to at least one of stop rotation and stop depth penetration of the anti-ski surgical instrument.

In certain embodiments, the depth control comprises a depth stop that adjustably attached to the anti-skid surgical instrument such that the depth of penetration of the anti-skid surgical instrument changes as a position of the depth stop is changed.

In certain embodiments, the shaft comprises one or more notches and the depth control engages at least one of the one or more notches when attached to the anti-skid surgical instrument.

In certain embodiments, the system comprises a tool support located between the shaft and the shank, wherein: the tool support is shaped and sized to slide through the surgical instrument guide along the axis defined by the guide, and a diameter of the tool support is greater than a diameter of the shank.

In certain embodiments, the end of the mill head has one or more end cutting flutes for cutting axially into the bone tissue.

In certain embodiments, the one or more drill flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, one or more side cutting flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the mill head.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the shank.

In certain embodiments, the one or more drill flutes have a higher twist rate (i.e., larger flute angle) than the one or more side cutting flutes or the one or more drill flutes have a lower twist rate (i.e., smaller flute angle) than the one or more side cutting flutes.

In certain embodiments, the one or more drill flutes have a different twist rate (i.e., different flute angle) than the one or more side cutting flutes.

In certain embodiments, the surgery is spinal, orthopedic, dental, ear, nose, or throat surgery.

In certain embodiments, a manipulator is attached to the robotic arm or molded into the robotic arm.

In another aspect, the disclosed technology includes a robotic surgical system for preparing a hole in bone tissue of a patient during surgery, comprising:

a robotic arm having an end effector with a surgical instrument guide attached thereto, the surgical instrument guide arranged to hold and/or restrict movement of an anti-skid surgical instrument therethrough; and the anti-skid surgical instrument having an elongate structure comprising: a mill head at the end of the elongate structure for removing bone tissue with reduced skidding (e.g., unintentional lateral movement of the surgical instrument) of the surgical instrument upon contact of the anti-ski surgical instrument with the bone tissue, wherein the mill head has a flat end substantially perpendicular to a longitudinal axis of the elongate structure, and one or more side-cutting flutes about the longitudinal axis of the elongate structure for cutting into bone tissue; a shank for connection to a drill; a shaft between the mill head and the shank, the shaft having one or more drill flutes (e.g., non-cutting flutes) for evacuating removed bone tissue; and a compliant part that absorbs energy from the mill head.

In certain embodiments, the compliant part comprises at least one of an elastic material, rubber, a bellow, and a universal joint.

In certain embodiments, the compliant part connects a first portion of the anti-ski surgical instrument to a second portion of the anti-skid surgical instrument.

In certain embodiments, the first portion comprises the mill head and a portion of the shaft and the second portion comprises the shank and a portion of the shaft.

In certain embodiments, the compliant part covers at least a portion of the shank.

In certain embodiments, the compliant part covers at least part of the shaft.

In certain embodiments, the compliant part covers at least part of the shaft and the shank.

In certain embodiments, the instrument includes a cannulation in the surgical instrument.

In certain embodiments, the cannulation comprises a hole in the end of the elongate structure (e.g., a tip of the surgical instrument).

In certain embodiments, the instrument includes a spike extending from the mill head.

In certain embodiments, the mill head comprises a concave face (e.g., from which the spike extends).

In certain embodiments, the compliant part comprises at least one of an elastic material, rubber, a bellow, and a universal joint.

In certain embodiments, the compliant part connects a first portion of the anti-ski surgical instrument to a second portion of the anti-skid surgical instrument.

In certain embodiments, the first portion comprises the mill head and a portion of the shaft and the second portion comprises the shank and a portion of the shaft.

In certain embodiments, the compliant part covers at least a portion of the shank.

In certain embodiments, the compliant part covers at least part of the shaft.

In certain embodiments, the compliant part covers at least part of the shaft and the shank.

In certain embodiments, a depth control.

In certain embodiments, the depth control comprises at least one of one or more markings and one or more colors for depicting depth of insertion.

In certain embodiments, the depth control comprises a first portion indicating when to start rotation of the anti-skid surgical instrument and a second portion indicating when to at least one of stop rotation and stop depth penetration of the anti-ski surgical instrument.

In certain embodiments, the depth control comprises a depth stop that adjustably attached to the anti-skid surgical instrument such that the depth of penetration of the anti-skid surgical instrument changes as a position of the depth stop is changed.

In certain embodiments, the shaft comprises one or more notches and the depth control engages at least one of the one or more notches when attached to the anti-skid surgical instrument.

In certain embodiments, the system comprises a tool support located between the shaft and the shank, wherein: the tool support is shaped and sized to slide through the surgical instrument guide along the axis defined by the guide, and a diameter of the tool support is greater than a diameter of the shank.

In certain embodiments, the end of the mill head has one or more end cutting flutes for cutting axially into the bone tissue.

In certain embodiments, the one or more drill flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, one or more side cutting flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the mill head.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the shank.

In certain embodiments, the one or more drill flutes have a higher twist rate (i.e., larger flute angle) than the one or more side cutting flutes or the one or more drill flutes have a lower twist rate (i.e., smaller flute angle) than the one or more side cutting flutes.

In certain embodiments, the one or more drill flutes have a different twist rate (i.e., different flute angle) than the one or more side cutting flutes.

In certain embodiments, the surgery is spinal, orthopedic, dental, ear, nose, or throat surgery.

In certain embodiments, a manipulator is attached to the robotic arm or molded into the robotic arm.

In one aspect, the disclosed technology includes a robotic surgical system for preparing a hole in bone tissue of a patient during surgery, including: a robotic arm having an end effector with a surgical instrument guide attached thereto, the surgical instrument guide arranged to hold and/or restrict movement of an anti-skid surgical instrument therethrough; and the anti-skid surgical instrument having an elongate structure comprising: a mill head at the end of the elongate structure for removing bone tissue with reduced skidding (e.g., unintentional lateral movement of the surgical instrument) of the surgical instrument upon contact of the anti-ski surgical instrument with the bone tissue, wherein the mill head has a flat end substantially perpendicular to a longitudinal axis of the elongate structure, and one or more side-cutting flutes about the longitudinal axis of the elongate structure for cutting into bone tissue; a shank for connection to a drill; a shaft between the mill head and the shank, the shaft having one or more drill flutes (e.g., non-cutting flutes) for evacuating removed bone tissue; and a depth control.

In certain embodiments, the depth control comprises one or more markings.

In certain embodiments, the depth control comprises one or more colors for depicting depth of insertion.

In certain embodiments, the depth control comprises a first portion indicating when to start rotation of the anti-skid surgical instrument and a second portion indicating when to at least one of stop rotation and stop depth penetration of the anti-ski surgical instrument.

In certain embodiments, the depth control comprises a depth stop that adjustably attached to the anti-skid surgical instrument such that the depth of penetration of the anti-skid surgical instrument changes as a position of the depth stop is changed.

In certain embodiments, the shaft comprises one or more notches and the depth control engages at least one of the one or more notches when attached to the anti-skid surgical instrument.

In certain embodiments, the instrument includes a compliant part that absorbs energy from the mill head.

In certain embodiments, the instrument includes a cannulation in the surgical instrument.

In certain embodiments, the cannulation comprises a hole in the end of the elongate structure (e.g., a tip of the surgical instrument).

In certain embodiments, the instrument includes a spike extending from the mill head.

In certain embodiments, the mill head comprises a concave face (e.g., from which the spike extends).

In certain embodiments, the compliant part comprises at least one of an elastic material, rubber, a bellow, and a universal joint.

In certain embodiments, the compliant part connects a first portion of the anti-ski surgical instrument to a second portion of the anti-skid surgical instrument.

In certain embodiments, the first portion comprises the mill head and a portion of the shaft and the second portion comprises the shank and a portion of the shaft.

In certain embodiments, the compliant part covers at least a portion of the shank.

In certain embodiments, the compliant part covers at least part of the shaft.

In certain embodiments, the compliant part covers at least part of the shaft and the shank.

In certain embodiments, a depth control.

In certain embodiments, the depth control comprises at least one of one or more markings and one or more colors for depicting depth of insertion.

In certain embodiments, the depth control comprises a first portion indicating when to start rotation of the anti-skid surgical instrument and a second portion indicating when to at least one of stop rotation and stop depth penetration of the anti-ski surgical instrument.

In certain embodiments, the depth control comprises a depth stop that adjustably attached to the anti-skid surgical instrument such that the depth of penetration of the anti-skid surgical instrument changes as a position of the depth stop is changed.

In certain embodiments, the shaft comprises one or more notches and the depth control engages at least one of the one or more notches when attached to the anti-skid surgical instrument.

In certain embodiments, the system comprises a tool support located between the shaft and the shank, wherein: the tool support is shaped and sized to slide through the surgical instrument guide along the axis defined by the guide, and a diameter of the tool support is greater than a diameter of the shank.

In certain embodiments, the end of the mill head has one or more end cutting flutes for cutting axially into the bone tissue.

In certain embodiments, the one or more drill flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, one or more side cutting flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the mill head.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the shank.

In certain embodiments, the one or more drill flutes have a higher twist rate (i.e., larger flute angle) than the one or more side cutting flutes or the one or more drill flutes have a lower twist rate (i.e., smaller flute angle) than the one or more side cutting flutes.

In certain embodiments, the one or more drill flutes have a different twist rate (i.e., different flute angle) than the one or more side cutting flutes.

In certain embodiments, the surgery is spinal, orthopedic, dental, ear, nose, or throat surgery.

In certain embodiments, a manipulator is attached to the robotic arm or molded into the robotic arm.

In another aspect, the disclosed technology includes an anti-skid surgical instrument for preparing a hole in bone tissue of a patient during surgery, the anti-skid surgical instrument having an elongate structure comprising: a mill head at the end of the elongate structure for removing bone tissue with reduced skidding (e.g., unintentional lateral movement of the surgical instrument) of the surgical instrument upon contact of the anti-ski surgical instrument with the bone tissue, wherein the mill head has a flat end substantially perpendicular to a longitudinal axis of the elongate structure, and one or more side-cutting flutes about the longitudinal axis of the elongate structure for cutting into bone tissue; a spike extending from the mill head; a shank for connection to a drill; and a shaft between the mill head and the shank, the shaft having one or more drill flutes (e.g., non-cutting flutes) for evacuating removed bone tissue.

In certain embodiments, the mill head comprises a concave face from which the spike extends.

In certain embodiments, the instrument includes a cannulation in the surgical instrument.

In certain embodiments, the cannulation comprises a hole in the end of the elongate structure (e.g., a tip of the surgical instrument).

In certain embodiments, the instrument includes a compliant part that absorbs energy from the mill head.

In certain embodiments, the compliant part comprises at least one of an elastic material, rubber, a bellow, and a universal joint.

In certain embodiments, the compliant part connects a first portion of the anti-ski surgical instrument to a second portion of the anti-skid surgical instrument.

In certain embodiments, the first portion comprises the mill head and a portion of the shaft and the second portion comprises the shank and a portion of the shaft.

In certain embodiments, the compliant part covers at least a portion of the shank.

In certain embodiments, the compliant part covers at least part of the shaft.

In certain embodiments, the compliant part covers at least part of the shaft and the shank.

In certain embodiments, the instrument includes a depth control.

In certain embodiments, the depth control comprises at least one of one or more markings and one or more colors for depicting depth of insertion.

In certain embodiments, the depth control comprises a first portion indicating when to start rotation of the anti-skid surgical instrument and a second portion indicating when to at least one of stop rotation and stop depth penetration of the anti-ski surgical instrument.

In certain embodiments, the depth control comprises a depth stop that adjustably attached to the anti-skid surgical instrument such that the depth of penetration of the anti-skid surgical instrument changes as a position of the depth stop is changed.

In certain embodiments, the shaft comprises one or more notches and the depth control engages at least one of the one or more notches when attached to the anti-skid surgical instrument.

In certain embodiments, the instrument includes a tool support located between the shaft and the shank, wherein: the tool support is shaped and sized to slide through the surgical instrument guide along the axis defined by the guide, and a diameter of the tool support is greater than a diameter of the shank.

In certain embodiments, the end of the mill head has one or more end cutting flutes for cutting axially into the bone tissue.

In certain embodiments, the one or more drill flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, one or more side cutting flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the mill head.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the shank.

In certain embodiments, the one or more drill flutes have a higher twist rate (i.e., larger flute angle) than the one or more side cutting flutes or the one or more drill flutes have a lower twist rate (i.e., smaller flute angle) than the one or more side cutting flutes.

In certain embodiments, the one or more drill flutes have a different twist rate (i.e., different flute angle) than the one or more side cutting flutes.

In certain embodiments, the surgery is spinal, orthopedic, dental, ear, nose, or throat surgery.

In certain embodiments, a manipulator is attached to the robotic arm or molded into the robotic arm.

In certain embodiments, the disclosed technology includes an anti-skid surgical instrument for preparing a hole in bone tissue of a patient during surgery, the anti-skid surgical instrument having an elongate structure comprising: a mill head at the end of the elongate structure for removing bone tissue with reduced skidding (e.g., unintentional lateral movement of the surgical instrument) of the surgical instrument upon contact of the anti-ski surgical instrument with the bone tissue, wherein the mill head has a concave end substantially perpendicular to a longitudinal axis of the elongate structure, and one or more side-cutting flutes about the longitudinal axis of the elongate structure for cutting into bone tissue; a shank for connection to a drill; and a shaft between the mill head and the shank, the shaft having one or more drill flutes (e.g., non-cutting flutes) for evacuating removed bone tissue.

In certain embodiments, the instrument includes a spike extending from the concave end of the mill head.

In certain embodiments, the instrument includes a cannulation in the surgical instrument.

In certain embodiments, the cannulation comprises a hole in the end of the elongate structure (e.g., a tip of the surgical instrument).

In certain embodiments, the instrument includes a compliant part that absorbs energy from the mill head.

In certain embodiments, the compliant part comprises at least one of an elastic material, rubber, a bellow, and a universal joint.

In certain embodiments, the compliant part connects a first portion of the anti-ski surgical instrument to a second portion of the anti-skid surgical instrument.

In certain embodiments, the first portion comprises the mill head and a portion of the shaft and the second portion comprises the shank and a portion of the shaft.

In certain embodiments, the compliant part covers at least a portion of the shank.

In certain embodiments, the compliant part covers at least part of the shaft.

In certain embodiments, the compliant part covers at least part of the shaft and the shank.

In certain embodiments, the instrument includes a depth control.

In certain embodiments, the depth control comprises at least one of one or more markings and one or more colors for depicting depth of insertion.

In certain embodiments, the depth control comprises a first portion indicating when to start rotation of the anti-skid surgical instrument and a second portion indicating when to at least one of stop rotation and stop depth penetration of the anti-ski surgical instrument.

In certain embodiments, the depth control comprises a depth stop that adjustably attached to the anti-skid surgical instrument such that the depth of penetration of the anti-skid surgical instrument changes as a position of the depth stop is changed.

In certain embodiments, the shaft comprises one or more notches and the depth control engages at least one of the one or more notches when attached to the anti-skid surgical instrument.

In certain embodiments, the instrument includes a tool support located between the shaft and the shank, wherein: the tool support is shaped and sized to slide through the surgical instrument guide along the axis defined by the guide, and a diameter of the tool support is greater than a diameter of the shank.

In certain embodiments, the end of the mill head has one or more end cutting flutes for cutting axially into the bone tissue.

In certain embodiments, the one or more drill flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, one or more side cutting flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the mill head.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the shank.

In certain embodiments, the one or more drill flutes have a higher twist rate (i.e., larger flute angle) than the one or more side cutting flutes or the one or more drill flutes have a lower twist rate (i.e., smaller flute angle) than the one or more side cutting flutes.

In certain embodiments, the one or more drill flutes have a different twist rate (i.e., different flute angle) than the one or more side cutting flutes.

In certain embodiments, the surgery is spinal, orthopedic, dental, ear, nose, or throat surgery.

In certain embodiments, a manipulator is attached to the robotic arm or molded into the robotic arm.

In another aspect, the disclosed technology includes an anti-skid surgical instrument for preparing a hole in bone tissue of a patient during surgery, the anti-skid surgical instrument having an elongate structure comprising: a mill head at the end of the elongate structure for removing bone tissue with reduced skidding (e.g., unintentional lateral movement of the surgical instrument) of the surgical instrument upon contact of the anti-ski surgical instrument with the bone tissue, wherein the mill head has a flat end substantially perpendicular to a longitudinal axis of the elongate structure, and one or more side-cutting flutes about the longitudinal axis of the elongate structure for cutting into bone tissue; a shank for connection to a drill; a shaft between the mill head and the shank, the shaft having one or more drill flutes (e.g., non-cutting flutes) for evacuating removed bone tissue; and a cannulation in the surgical instrument.

In certain embodiments, the cannulation comprises a hole in the end of the elongate structure (e.g., a tip of the surgical instrument).

In certain embodiments, the instrument includes a spike extending from the mill head.

In certain embodiments, the mill head comprises a concave face (e.g., from which the spike extends).

In certain embodiments, the instrument includes a compliant part that absorbs energy from the mill head.

In certain embodiments, the compliant part comprises at least one of an elastic material, rubber, a bellow, and a universal joint.

In certain embodiments, the compliant part connects a first portion of the anti-ski surgical instrument to a second portion of the anti-skid surgical instrument.

In certain embodiments, the first portion comprises the mill head and a portion of the shaft and the second portion comprises the shank and a portion of the shaft.

In certain embodiments, the compliant part covers at least a portion of the shank.

In certain embodiments, the compliant part covers at least part of the shaft.

In certain embodiments, the compliant part covers at least part of the shaft and the shank.

In certain embodiments, the instrument includes a depth control.

In certain embodiments, the depth control comprises at least one of one or more markings and one or more colors for depicting depth of insertion.

In certain embodiments, the depth control comprises a first portion indicating when to start rotation of the anti-skid surgical instrument and a second portion indicating when to at least one of stop rotation and stop depth penetration of the anti-ski surgical instrument.

In certain embodiments, the depth control comprises a depth stop that adjustably attached to the anti-skid surgical instrument such that the depth of penetration of the anti-skid surgical instrument changes as a position of the depth stop is changed.

In certain embodiments, the shaft comprises one or more notches and the depth control engages at least one of the one or more notches when attached to the anti-skid surgical instrument.

In certain embodiments, the instrument includes a tool support located between the shaft and the shank, wherein: the tool support is shaped and sized to slide through the surgical instrument guide along the axis defined by the guide, and a diameter of the tool support is greater than a diameter of the shank.

In certain embodiments, the end of the mill head has one or more end cutting flutes for cutting axially into the bone tissue.

In certain embodiments, the one or more drill flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, one or more side cutting flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the mill head.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the shank.

In certain embodiments, the one or more drill flutes have a higher twist rate (i.e., larger flute angle) than the one or more side cutting flutes or the one or more drill flutes have a lower twist rate (i.e., smaller flute angle) than the one or more side cutting flutes.

In certain embodiments, the one or more drill flutes have a different twist rate (i.e., different flute angle) than the one or more side cutting flutes.

In certain embodiments, the surgery is spinal, orthopedic, dental, ear, nose, or throat surgery.

In certain embodiments, a manipulator is attached to the robotic arm or molded into the robotic arm.

In another aspect, the disclosed technology includes an anti-skid surgical instrument for preparing a hole in bone tissue of a patient during surgery, the anti-skid surgical instrument having an elongate structure comprising: a mill head at the end of the elongate structure for removing bone tissue with reduced skidding (e.g., unintentional lateral movement of the surgical instrument) of the surgical instrument upon contact of the anti-ski surgical instrument with the bone tissue, wherein the mill head has a flat end substantially perpendicular to a longitudinal axis of the elongate structure, and one or more side-cutting flutes about the longitudinal axis of the elongate structure for cutting into bone tissue; a shank for connection to a drill; a shaft between the mill head and the shank, the shaft having one or more drill flutes (e.g., non-cutting flutes) for evacuating removed bone tissue; and a compliant part that absorbs energy from the mill head.

In certain embodiments, the compliant part comprises at least one of an elastic material, rubber, a bellow, and a universal joint.

In certain embodiments, the compliant part connects a first portion of the anti-ski surgical instrument to a second portion of the anti-skid surgical instrument.

In certain embodiments, the first portion comprises the mill head and a portion of the shaft and the second portion comprises the shank and a portion of the shaft.

In certain embodiments, the compliant part covers at least a portion of the shank.

In certain embodiments, the compliant part covers at least part of the shaft.

In certain embodiments, the compliant part covers at least part of the shaft and the shank.

In certain embodiments, the instrument includes a spike extending from the mill head.

In certain embodiments, the mill head comprises a concave face (e.g., from which the spike extends).

In certain embodiments, the instrument includes a cannulation in the surgical instrument.

In certain embodiments, the cannulation comprises a hole in the end of the elongate structure (e.g., a tip of the surgical instrument).

In certain embodiments, the instrument includes a depth control.

In certain embodiments, the depth control comprises at least one of one or more markings and one or more colors for depicting depth of insertion.

In certain embodiments, the depth control comprises a first portion indicating when to start rotation of the anti-skid surgical instrument and a second portion indicating when to at least one of stop rotation and stop depth penetration of the anti-ski surgical instrument.

In certain embodiments, the depth control comprises a depth stop that adjustably attached to the anti-skid surgical instrument such that the depth of penetration of the anti-skid surgical instrument changes as a position of the depth stop is changed.

In certain embodiments, the shaft comprises one or more notches and the depth control engages at least one of the one or more notches when attached to the anti-skid surgical instrument.

In certain embodiments, the instrument includes a tool support located between the shaft and the shank, wherein: the tool support is shaped and sized to slide through the surgical instrument guide along the axis defined by the guide, and a diameter of the tool support is greater than a diameter of the shank.

In certain embodiments, the end of the mill head has one or more end cutting flutes for cutting axially into the bone tissue.

In certain embodiments, the one or more drill flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, one or more side cutting flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the mill head.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the shank.

In certain embodiments, the one or more drill flutes have a higher twist rate (i.e., larger flute angle) than the one or more side cutting flutes or the one or more drill flutes have a lower twist rate (i.e., smaller flute angle) than the one or more side cutting flutes.

In certain embodiments, the one or more drill flutes have a different twist rate (i.e., different flute angle) than the one or more side cutting flutes.

In certain embodiments, the surgery is spinal, orthopedic, dental, ear, nose, or throat surgery.

In certain embodiments, a manipulator is attached to the robotic arm or molded into the robotic arm.

In another aspect, the disclosed technology includes an anti-skid surgical instrument for preparing a hole in bone tissue of a patient during surgery, the anti-skid surgical instrument having an elongate structure comprising: a mill head at the end of the elongate structure for removing bone tissue with reduced skidding (e.g., unintentional lateral movement of the surgical instrument) of the surgical instrument upon contact of the anti-ski surgical instrument with the bone tissue, wherein the mill head has a flat end substantially perpendicular to a longitudinal axis of the elongate structure, and one or more side-cutting flutes about the longitudinal axis of the elongate structure for cutting into bone tissue; a shank for connection to a drill; a shaft between the mill head and the shank, the shaft having one or more drill flutes (e.g., non-cutting flutes) for evacuating removed bone tissue; and a depth control.

In certain embodiments, the depth control comprises one or more markings.

In certain embodiments, the depth control comprises one or more colors.

In certain embodiments, the depth control comprises a first portion indicating when to start rotation of the anti-skid surgical instrument and a second portion indicating when to at least one of stop rotation and stop depth penetration of the anti-ski surgical instrument.

In certain embodiments, the depth control comprises a depth stop that adjustably attached to the anti-skid surgical instrument such that the depth of penetration of the anti-skid surgical instrument changes as a position of the depth stop is changed.

In certain embodiments, the shaft comprises one or more notches and the depth control engages at least one of the one or more notches when attached to the anti-skid surgical instrument.

In certain embodiments, instrument includes a spike extending from the mill head.

In certain embodiments, the mill head comprises a concave face (e.g., from which the spike extends).

In certain embodiments, the instrument includes a cannulation in the surgical instrument.

In certain embodiments, the cannulation comprises a hole in the end of the elongate structure (e.g., a tip of the surgical instrument).

In certain embodiments, the instrument includes a compliant part that absorbs energy from the mill head.

In certain embodiments, the compliant part comprises at least one of an elastic material, rubber, a bellow, and a universal joint.

In certain embodiments, the compliant part connects a first portion of the anti-ski surgical instrument to a second portion of the anti-skid surgical instrument.

In certain embodiments, the first portion comprises the mill head and a portion of the shaft and the second portion comprises the shank and a portion of the shaft.

In certain embodiments, the compliant part covers at least a portion of the shank.

In certain embodiments, the compliant part covers at least part of the shaft.

In certain embodiments, the compliant part covers at least part of the shaft and the shank.

In certain embodiments, the instrument includes a tool support located between the shaft and the shank, wherein: the tool support is shaped and sized to slide through the surgical instrument guide along the axis defined by the guide, and a diameter of the tool support is greater than a diameter of the shank.

In certain embodiments, the end of the mill head has one or more end cutting flutes for cutting axially into the bone tissue.

In certain embodiments, the one or more drill flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, one or more side cutting flutes comprise at least two, three, four, six, eight, ten, or twenty flutes.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the mill head.

In certain embodiments, a longitudinal length of the shaft is greater than a longitudinal length of the shank.

In certain embodiments, the one or more drill flutes have a higher twist rate (i.e., larger flute angle) than the one or more side cutting flutes or the one or more drill flutes have a lower twist rate (i.e., smaller flute angle) than the one or more side cutting flutes.

In certain embodiments, the one or more drill flutes have a different twist rate (i.e., different flute angle) than the one or more side cutting flutes.

In certain embodiments, the surgery is spinal, orthopedic, dental, ear, nose, or throat surgery.

In certain embodiments, a manipulator is attached to the robotic arm or molded into the robotic arm.

