The devices and methods described involve driving a working tool in an axial direction such that linear movement is controlled and measurable and injury to structures surrounding a bone to be drilled can be avoided. The devices comprise an axial drive shaft (40) extending through a région of a housing (20, 210), a first drive élément (30, 230) coupled to a région of the axial drive shaft, a rotational drive shaft (80) extending through a région of the housing, a second drive élément (60, 260) coupled to a région of the rotational drive shaft, a coupler (90, 290) connected to a working tool (110, 310) and to the rotational drive shaft, and optionally a drill guide (370) assembly surrounding the working tool. The axial drive shaft is coupled either to the second drive élément or to the drill guide assembly, so that when the first drive élément is actuated axial travel of the working tool away frotn the housing or of the drill guide assembly towards the housing is obtained. A transducer (39) measures this movement.
