SURGICAL INSTRUMENT INCLUDING HOUSING, A CUTTING ACCESSORY THAT EXTENDS FROM THE HOUSING AND ACTUATORS THAT ESTABLISH THE POSITION OF THE CUTTING ACCESSORY RELATIVE TO THE HOUSING
#$%^&*AU2019226263A120190926.pdf#####ABSTRACT There is disclosed an instrument comprising: a hand-held portion for being manually supported and moved by a user； a working portion movably coupled to the hand-held portion； a plurality of actuators operatively coupled to the working portion for moving the working portion in a plurality of degrees of freedom relative to the handheld portion； a tracking device attached to the hand-held portion for tracking the instrument； and at least one adjustment mechanism disposed between the actuators and the working portion for transmitting movement from the actuators to the working portion.
