WO2021167509A1 - A measurement arrangement, a cable inlet duct, a modular utilized tool support and a modular tool set adapted to medical surgery - Google Patents

A measurement arrangement, a cable inlet duct, a modular utilized tool support and a modular tool set adapted to medical surgery Download PDF

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Publication number
WO2021167509A1
WO2021167509A1 PCT/SE2021/000002 SE2021000002W WO2021167509A1 WO 2021167509 A1 WO2021167509 A1 WO 2021167509A1 SE 2021000002 W SE2021000002 W SE 2021000002W WO 2021167509 A1 WO2021167509 A1 WO 2021167509A1
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WO
WIPO (PCT)
Prior art keywords
sleeve
inlet duct
surgery
frame
utilized
Prior art date
Application number
PCT/SE2021/000002
Other languages
French (fr)
Inventor
Mikael HARRISON
Original Assignee
Nordic Windows Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from SE2000037A external-priority patent/SE544416C2/en
Application filed by Nordic Windows Ab filed Critical Nordic Windows Ab
Publication of WO2021167509A1 publication Critical patent/WO2021167509A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/372—Details of monitor hardware
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0223—Magnetic field sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0257—Proximity sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/2006—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils

Definitions

  • the present invention pertains to a to a measuring arrangement adapted to be attached to a medical surgery robot arm for structural bone surgery.
  • Another embodiment of the present invention pertains to a cable inlet duct, and an assembly therefor adapted to support for instance a digital display screen arm cable bundle.
  • the inlet duct is circularly movable around its axis and mounted on a supporting frame for the digital display arm, guiding and accommodating the cable bundle from damage by bending and chafing, and its suitably kept centred along the inlet axis.
  • Yet a further embodiment of the present invention pertains to a modular utilized tool support adapted to attach a mechanical female receptor, with an engagement space for sterile draping/covering of devices.
  • Yet one embodiment of the present invention pertains to a modular tool set, adapted for surgery on human beings, and animal bone structures.
  • cables can be damaged when turned repeatedly, which is the case when for instance a machinery whit a movable arm hosting a cable/cable-bundle is utilized in different positions or transported in such positions. Commonly edges on the robot in use frame will expose its cables to a sharp bending. Eventually, the cable will be damaged/crooked, and thus to be replaced or mended. It is also a problem to attach a cable carrying arm to be mounted on frames with different surfaces on a frame, such as inclined frames.
  • a surgeon draping/covering machinery with for instance a sterile plastic cover, utilizes for instance a scalpel to poke/punch/puncture a hole in the drapery utilized for germ protection, to allow a surgery tool to protrude out of the drapery to engage into a patient, and covering the machinery or at least parts of it.
  • This is a very harsh procedure, as the hole made with the scalpel is prone to an air inlet/outlet, inviting germs to be spread towards a patient.
  • it wil be contaminated.
  • trocars to open tissue, so that it reveals the bone structure to be drilled in, for insertion of stabilizing material.
  • stabilizing material such mechanical members as for instance spikes, nails, and rods of a suitable material plastics, titanium and other materials known to a person skilled in the present art are utilized.
  • the present invention provides a measuring arrangement adapted to be attached to a medical surgery robot arm for structural bone surgery,
  • a carrier comprising a sleigh support, which is connected to at least one holder.
  • the carrier is also equipped with a wedged electricity conductive member, provided to be utilized in distance measuring of the movement of the carrier.
  • a firmament is mounted on the robot on which the carrier is attached through said at least one holder.
  • the sleigh support is provided to slide in the at least one holder.
  • the holder is equipped with sliding means for the sleigh/sliding support, and the sleigh support is provided freely movable mounted on at least one holder within its physical constraints.
  • the carrier has attached to it an adapter for attachment of surgery equipment/tools.
  • the firmament is equipped with an electromagnetic field providing a sensor device, which reads the electromagnetic field provided between the wedge measurement member and the electromagnetic sensor device.
  • the electromagnetic field varies in strength when the wedged measurement member slides with the carrier in front of the measurement sensor device in a straight fixed course.
  • the measuring sensor device provides signals obtained by it from measured fluctuations of the electromagnetic field, these are transformed to distances on behalf of the sliding movement of the carrier through the wedged measurement members sliding movement, by a control unit for said measuring arrangement when the carrier is operated by hand.
  • Another aim of the present invention is to enable an inlet duct to be inclined in different degrees to accommodate that the inlet duct can be attached to for instance a robot frame, which is inclined or slanting, thus the inlet duct can be attached in a position pointing vertically upwards or even be attached inclined in a suitable mode to a virtual vertical axis.
  • inlet duct and its assembly may be used in other technical fields then the medical field to accommodate cable bundles where swivels are utilized to turn an arm on a frame, body, or housing
  • the present invention puts forth a cable inlet duct having a larger and a smaller outer and inner diameter adapted to support a medical surgery robot digital display arm cable bundle and the arm itself.
  • the inlet duct is circularly movable around its own axis and constructed to be mounted vertically on a supporting frame for the robot digital display arm, to guide an inserted cable bundle from being damaged by bending and chafing, and suitably kept centred along the inlet duct axis.
  • the cable inlet duct is moveably mounted in an assembly on the frame, whereby the inlet duct provides a first recess on its body at the larger diameter body part.
  • the recess is open at its upward pointing top adapted to the insertion and/or output of a cable bundle, and the first recess is smoothly slanted and rounded at its bottom to allow a cable bundle to be gently inserted and/or output through the inlet ducts larger inner diameter.
  • the cable inlet duct provides a second recess on the smaller diameter of the cable inlet duct beneath the first recess acting as an inlet opening to aid a cable bundle to be fed/pushed upwards and/or downwards.
  • This can be accomplished by utilizing for instance a tool/finger for it to be straight centred along the axis smaller tighter inner diameter adapted to the diameter of a cable bundle in use.
  • a tool/finger for it to be straight centred along the axis smaller tighter inner diameter adapted to the diameter of a cable bundle in use.
  • the cable bundle is upheld and centred, and it prevents it from a sharp bending or bending at all as well as chafing.
  • the cable inlet duct is provided with two collars.
  • a first collar has its bottom face/surface cut slanted in a suitable degree for attachment to a frame.
  • the first collar is mounted on the upper face of the frame.
  • a second collar provided has its upper face cut slanted in the same degree as the first collar, to be attached to the opposite face of the frame utilized in an assembly to guide the inlet duct to be mounted vertically on the frame.
  • Yet another embodiment provides that the inlet duct is mounted tilted on the frame.
  • a still further embodiment of the present invention provides that the cable duct assembly can be tilted from 90 to 45 degrees with regard to a slanting frame on which it is mounted. Moreover, the present invention provides the assembly mentioned, where it comprises said parts and features mentioned in the tatter.
  • a still further aim of the present invention is to provide an embodiment regarding a modular utilized tool support adapted to attach a mechanical female receptor with an engagement space for sterile draping/covering of devices or parts of them. Constructed as a mechanical male shaped receptor, to engage with a sterile draping/cover and the female receptor, partitioned into a stationary part, and at least one flexible part.
  • the flexible part has a spring action, making up a snap clutch, adapted to lock and release the flexible part to the female receptor part, through the snap clutch back and forth moving parts, when put into or released from pressure.
  • Another embodiment of the present invention provides a tool support, having an adjustment means for the thickness of a sterile draping/cover placed to be locked between the snap clutch, and the female receptor.
  • a further embodiment provides a locking/release leveller, engaging a cam to rest against the at least one flexible part.
  • the present invention provides the utilization of a modular tool support adapted for surgery.
  • a still further aim of the present invention is to provide a modular tool set allowing different sized tools to be attached to a robot arm for medical surgery on human beings and animals.
  • a modular tool set adapted for surgery on human beings, and animal bone structures.
  • it comprises a handle, a handle base, having a female receptor, to relate to a male receptor on a surgery robot arm, a head adapter on the handle, a main sleeve, with an attached connector, holding the main sleeve.
  • an outer maximum diameter sized sleeve fitting into the main sleeve inner diameter space, in which tools for surgery with a sized maximum diameter fit into, and an inner minimum diameter sized sleeve fitting into the outer maximum diameter sleeve inner diameter space, in which tools for surgery with a minimum sized diameter fit into.
  • the tools in the tool set are measuring probe, trocars, sleeves, and drills of the maximum and minimum size.
  • the handle base comprises a male shaped receptor fitting with a female receptor for attachment of auxiliary tools.
  • the present invention provides a method for utilization of a modular tool support adapted for surgery with a robot.
  • Fig. 1a and b illustrate a measuring arrangement according to one embodiment of the present invention
  • Fig. 2 illustrates a robot arm firmament in greater detail in accordance with the present invention.
  • Fig. 3 illustrates an assembled measurement arrangement in accordance with the present invention.
  • Fig. 4 illustrates a cable duct inlet and its assembly according to one embodiment of the present invention
  • Fig. 5 depicts a robot digital display arm and a display screen in accordance with the present invention
  • Fig. 6 schematically illustrates a display arm swivel attached to a face of a frame
  • Fig. 7 schematically illustrates an assembly of a frame showing how a cable bundle protrudes out of an assembly with an inlet duct in accordance with the present invention.
  • Fig. 8 illustrates a tool support/bracket according to one embodiment of the present invention.
  • Fig. 9 schematically depicts a module utilization of the tool support in accordance with the present invention.
  • Fig. 10 illustrates a tool set for bone structure surgery, according to one embodiment of the present invention: and Fig. 11 schematically illustrates a module utilization of the tool set in accordance with the present invention.
  • FIG. 1a and 1b it illustrates a measuring arrangement 8,10
  • a medical surgery robot arm for structural bone surgery. It comprises a carrier 8 housing a sleigh support 10, which is connected to at least one holder 12, in Fig. 1 two holders are shown.
  • the carrier 8 is equipped with a wedged electricity conductive member provided to be utilized in distance measuring of the movement of the carrier.
  • a firmament 18, 20, 22 is mounted on the robot arm attaching the carrier 8 through the two holders 12, whereby the sleigh support 10 is provided to slide in those holders 12.
  • the holder 10 has sliding means for the sleigh support 10 so it is enabled to slide. Sliding means could for instance be of the ball bearing type or other friction reducers.
  • the sleigh support 10 is freely movable, mounted on the holders 12, within its physical constraints by its length and provided attenuator/pad means known to a person skilled in the art.
  • Fig. 1b Depicted in Fig. 1b is the wedged electricity conductive member 14b, which is shown mounted in the carrier 8, slightly visible as member 14a.
  • the T-shaped firmament 18, 20, 22 is equipped with an electromagnetic field providing a sensor device 24, in Fig. 1b, connected through wiring or a cable transmitting signals of measurements to a control unit, not shown, which reads the electromagnetic field provided between the wedge-shaped measurement member 14a, 16 and the sensor device 24.
  • Fig. 3 the firmament 18, 20, 22 itself is shown in greater detail with its T- shape attached to a plate 18 for fastening of the entire firmament 18, 20, 22 to a robot arm, not shown.
  • the holders 12 are attached on the firmament plate 22. Also depicted are the apertures 28, 29 for the signal sensor device 24 and its cable 26.
  • the electromagnetic field varies in strength when the wedge- shaped measurement member 14a, 16 is operated to slide with the carrier 8, in front of the measurement sensor device 24, the measuring sensor 24 provides signals obtained by the fluctuation/change of the electromagnetic field, which changes in strength with the distance to every point/area on the wedged-shaped member 14a, 16, where 16 is a plate provided to smoothen the wedge surface attachment means to the carrier 8, for instance screws.
  • signals from the sensor 24 are transformed to distances on behalf of the sliding movement of the carrier 8 through the wedged measurement members 14a, 16 sliding movement by a control unit for said measuring arrangement 8,10, 12, 14a, 16, 20, 24 when operated.
  • An example of a conductive measurement sensor for the present invention is the conductive proximity sensor DW-AD-509-M 18-320 from the company Contrinex AG, which senses changes in the magnetic field when measuring towards a conductive metal such as steel, aluminium, brass etc.
  • the measuring arrangement is depicted, where the carrier 8 is provided an adapter 26 for attachment of surgery equipment and a housing/cover 32. It is depicted how the firmament parts 20, 22 are situated in the sliding slot of the carrier 8.
  • Another aim of the present invention is to enable an inlet duct to be inclined in different degrees to accommodate that the inlet duct can be attached to for instance a robot frame, which is inclined or slanting, thus the inlet duct can be attached in a position pointing vertically upwards or even be attached inclined in a suitable mode to a virtual vertical axis.
  • the present invention puts forth a cable inlet duct having a larger and a smaller outer and inner diameter adapted to support a medical surgery robot digital display arm cable bundle and the arm itself.
  • Fig. 4 shows an assembly of an inlet duct 40 in accordance with the present invention, whereby the inlet ducts body 42, 44 have different outer and inner diameters.
  • the duct body part 42 has the larger diameters, and the part 44, the smaller diameters adapted to house and/or uphold a cable bundle 78 Fig. 7, with a slightly smaller cable bundle 78 diameter then the inner diameter of the smaller inner diameter part 44 to fit firmly centred in the duct part 44, not being able to be bent or twisted due to for instance its tight fit in the inlet duct part 44, still being able to swivel with the turning display screen arm 68 Fig. 7, thus preventing it from being twisted or to chafing inside the duct part 44 inner valve.
  • an inlet duct To assemble an inlet duct to a robot frame, the following parts are depicted in one embodiment of the invention. It should be noticed that a person skilled in the art may prefer other known assemblies and mechanical objects suited for this purpose. Nevertheless, the main objective of the present invention is the inlet duct 42, 44 and its features as well as the collars/washers 56, 60.
  • the inlet duct 42, 44 is assembled and inserted into a plastic bushing 50, and the parts 42, 44 and 50 are inserted into a sleeve 56 with threads not shown.
  • a pin 26 with spring action faces the bottom of the inlet duct 42, 44.
  • the duct 42, 44 is vertically mounted, in one embodiment of the present invention, and freely movable with the plastic bushing 50 and the sleeve 52 with a slight inertia between the plastic bushing 50 outer body and the sleeve 52 and assembled with collars/washers 56, 58, 60.
  • the inlet duct 42, 44 and its assembly parts are tightened and locked with a nut 62 engaging the threads, not shown on the sleeve 54.
  • Locking measures such as providing retaining rings 64 can be applied.
  • a washer 66 is the interface between the actual arm/arms 68 of the robot display screen in Fig. 5, mounted flush to the inlet duct part 42.
  • the retaining ring 64 in this assembly is mounted in a groove of the top washer 66 to retain the washer 66 not to unnecessarily grind against the top of the inlet duct part 42 when the swivel 72 is turned.
  • the inlet duct 42, 44 is circularly movable around its own axis and constructed to be mounted vertically, in one embodiment of the present invention, on a supporting frame for the robot digital display screen 70 arm/arms 68, to guide and prevent an inserted cable bundle 78 from being damaged by bending, and suitably kept centred along the inlet duct axis.
  • the cable inlet duct 42, 44 is moveably mounted in an assembly Fig, 4 40 on the frame 74, whereby the inlet duct 42, 44 provides a first recess 46 on its body at the duct part 42 with the two larger diameters.
  • the recess 46 open at its upward pointing top adapted to the insertion and/or output of a cable bundle 78.
  • the first recess 46 is smoothly rounded and somewhat slanted towards the inside of the duct part 42 at its bottom to allow a cable bundle 78 to be gently inserted and/or output through the inlet ducts 42 larger inner diameter, not to be chafed.
  • every edge of the inlet duct 42, 44 is smoothly rounded to inhibit damage on a cable bundle 78 inserted in the duct 42, 44 and the entire assembly 40.
  • This can be accomplished by utilizing for instance a tool and/or a finger for it to be straight centred along the axis of the duct smaller tight inner diameter adapted to the diameter of a cable bundle 78 in use.
  • the shape of the recesses 46, 48 can vary from a strict U- shape to other shapes known to a person skilled in the art.
  • the present invention also comprehends to collars/washers 56, 60.
  • a first collar 56 is manufactured with its bottom face cut slanted in a suitable degree for attachment to a frame 74.
  • the first collar is mounted on the upper face of the frame 74, whereby the second collar 60 has its upper face cut and manufactured slanted, in the same degree as the first collar 56 to be attached to the opposite face of the frame.
  • it is utilized in the assembly 40 to guide the inlet duct to be mounted vertically on a slanted/inclined frame 74.
  • the latter embodiment makes it possible to be mounted tilted on a frame 74 for instance tilted from 90 to 45 degrees in different directions on the frame 74.
  • the present invention provides the assembly 40 comprising the parts/objects and features described in this disclosure.
  • the collar 56 must be refurnished and adapted to the collar 58. This collar 56 should be nice for a view of a beholder.
  • Fig. 5 depicts a robot digital display arm 68 and a display screen 70 with its swivel 72 and shaft 40 affixed in accordance with one embodiment the present invention.
  • the shaft 78 is fixed with suitable known means to the inlet duct 42, 44 to turn with it.
  • Fig. 6 schematically illustrates a display arm 68 swivel 72 attached to an upper face of a robot frame 74, also showing the assembly 40 schematically depicted.
  • Fig. 7 schematically illustrates an assembly 40, 44, 56 of a frame showing how a cable bundle 78 protrudes out of an assembly 40 through the inlet duct 42, 44 part 46 recess in accordance with one embodiment of the present invention.
  • a surgeon draping/covering a machinery with for instance a sterile plastic cover, utilizes a scalpel, if not a pen, to poke/punch/puncture a hole in the drapery utilized for germ protection, to allow a surgery tool to protrude out of the drapery to engage into a patient, and covering the machinery.
  • This is a very harsh procedure, as the hole made with the scalpel is prone to an air outlet/inlet, inviting germs to enter inside/outside the draping cover.
  • the present invention presents a tool support/bracket, where no holes are punched in the draping/covering.
  • the present invention relates to a tool support/bracket adapted to be utilized in a sterile environment as it has been elaborated in the former text of this description, and by further examples, and embodiments described in the below text. Given are non-limited versions of the present invention. Hence, the following description is headed to a description of the mechanical parts and its functioning, of the sterile cover support tool in accordance with the present invention, through Fig. 8 and Fig. 9, with their depicted reference numerals,
  • Fig. 8 shows an exploded view of a tool support 80, according to one example of the present invention. Hence, it comprises guiding pins 82, and screws/bolts 84, to assembly mechanical parts, as known to a person skilled in the art, thus no further common mechanical assembly means will be described.
  • Depicted as reference numeral 86, in Fig. 8 is the mechanical body part/bracket that is attached to the machinery, for instance a robot arm, not shown, for surgery in a tissue/bone structure of human beings, and animals to perform a sterile surgery according to one example of the present invention.
  • the clutch parts 89, 90, 92 act as mechanical male receptors, when connected/snapped into the handle in Fig. 9.
  • Pins 91 are equipped with mechanical springs, which are known to a person skilled in the present art, not shown. It is appreciated that the spring feature is one out of many possible, it may be made of any elastic material, thus the spring described herein is only one of many possible functioning springs.
  • Clacks 90, 92 are through spring action moving back and forth when put into or released from pressure, and fit into the stationary part 88 when assembled.
  • the clacks 89, 90 are rounded 92 to fit into a female connection 30, 38, shown in Fig. 9, and not to damage a sterile draping placed there.
  • a stationary part 88 shaped as clacks 89 is not moving when engaged, constituting a snap clutch 80, 88,89, 90, 91 with spring acting features not shown, being attached to the support tool 86, 88 on.
  • the leveler 94 is utilized to lock/release the clutch 80 in the C-shaped space 86 in Fig. 9 of a female receptor for attachment of tools, and when utilized a tool handle 82 with its properties for invasive surgery on human/animal tissue/bone is in one piece with the female shaped 86 receptor 98, as depicted in Fig. 9 92, 94, 96, 98 is utilized.
  • a locking cam 96 front flattened surface engages the clacks 90 to lock the clutch 80 to the handle female receptor 98 to the clutch 80 in the C-shaped space 86.
  • the tool support 88 comprises a locking/release leveler 94, engaging the cam 96 to rest against, the at least one flexible body part 90, in this example two flexible body parts 90.
  • a locking means 95 utilized to firmly lock the female shaped receptor 98 to the clutch 80 is shown, here a screw, and operating and holding the locking notch 96, which thus stays to adjust to the thickness of a sterile draping/covering placed between the female shaped receptor 98 and the clutch 80 parts 90, 92 in a position adapted to the thickness of a draping so that the draping is not damaged due to excessive pressure and tear.
  • a draping is for instance a plastic sheet/cover 40, Fig. 2, or fabric paper and the like known to a person skilled in the art.
  • the adjusting/locking screw adjusts the tool support 80 and clutch in its entire to the thickness of the draping/covering 40 together with the notch 96, thus tuning the clutch to a nominal pressure on the draping/covering 40 placed between the space 86 on the handle 82, and the entire clutch 80 to cover a device utilized in a sterile environment, in this example a robot, used to perform surgery on human or animal bone structures, but not limited to a robot as a device. Also, other life adding equipment such as heart and lung machines, measuring equipment such as for pulse and blood pressure measuring, and the like known to a person skilled in the art, may be considered.
  • FIG. 9 With its schematically illustrated utilization of a tool support system in accordance with the present invention. Nota bene that utilized reference numerals comply with those in Fig. 1.
  • Fig. 9 Depicted in Fig. 9 is the handle 82 equipped with a C-shaped adapter 98, showing the female receptor 86 inner space, utilized to attach tools for surgery such as a trocar, drill, knife, puncher, and others known to a person skilled in the art. Moreover, depicted is a C-shaped receptor 38 for tools to be attached to the handle 82 shaft. It is appreciated that the l-shaped body part 85 can be a connector/receptor of its own if a handle shaft 82 is not needed or in use. Thus, tools or other equipment can be attached through the l-shaped receptor 85 in Fig. 9.
  • the adapter 92 is constructed as a custom-made sleeve, to fit different hospitals tool sets 96,
  • FIG. 9 depicted in Fig. 9.
  • the utilization of the present invention comprises a mechanical male shaped receptor/clutch 80, to engage with a female receptor 98, partitioned into a stationary part 88, 89, and at least one flexible part 90.
  • the flexible part 90 has a spring action, making up a snap clutch 80, 89, 90, 91 , 92, adapted to lock and release the flexible part 90 to the female receptor part 98.
  • the snap clutch has a back-and-forth movement, with at least one movable part 90, 91 , 92, when put into or released from pressure.
  • the female receptor 98 can be equipped with modular brackets 99 for attachment of auxiliary equipment 94, 102.
  • a surgery through human and animal tissue induces body fluids, such as for instance water, blood by pressure gush/burst out of an open cavity, through the penetration of tissue before a bone fixating surgery can be applied.
  • the opening/cavity is made by trocars utilized by surgeons for instance via a robot and its arm holding the trocar in position for penetration of tissue before reaching the bone(s) to be fixated.
  • a maximum diameter sized sleeve is utilized, fitting a maximum diameter trocar, which penetration diameter is standardized, and only one trocar is currently used during surgery.
  • the outer diameter is of a maximum size to push away tenants and tissue to make as little damage to it as possible, when it is removed from the sleeve holding it to allow insertion of a drill in the sleeve, for instance body fluids gush out under pressure, contaminating the robot arm with its attached tools, and the surrounding environment causing inconvenience, and possible biohazards. Its appreciated that tools utilized fit into maximum and minimum sized sleeves, which is not the current case.
  • Fig. 10 depicts a tool set 110 in accordance with the present invention, when assembled, and utilized for surgery attached to for instance a robot movable arm (not shown).
  • the tool set 110 is adapted to for instance reduce fluid gushing out during surgery on human beings, and animal bone structures through body tissues to be removed, widened, to reach the bone structure of concern for surgery.
  • It comprises a handle 112, a handle base 114, equipped with a female receptor 116, to relate to a male receptor 100 in Fig. 11.
  • a handle base 114 equipped with a female receptor 116, to relate to a male receptor 100 in Fig. 11.
  • auxiliary surgery tools through a male receptor 115 and 100 in Fig. 11, for instance a camera 94, schematically depicted in Fig. 11, on a surgery arm device such as a robot arm, not shown.
  • Fig. 11 schematically illustrates a module utilization of the tool set in accordance with the present invention.
  • a head adapter sleeve 118 on the handle 112 an inner sleeve 120 fits in the head sleeve 118, a spring 122 utilized for a bayonet coupling lock and release, as well as the tools and sleeves 124, 126, 128 130, 132, 134, where the maximum sized sleeve 124 fits in the outer sleeve 120 inner diameter.
  • An attached connector 123 is fixated to the outer sleeve 120, also acting as a base for the spring 22.
  • the tool set 116, 130, 132, 134, 136, 137, 138 comprises a maximum diameter sized sleeve 124, where tools for surgery, and sleeves, 132 are inserted in its inner cylindrical surface.
  • Mentioned tools are a measuring probe 136, a maximum diameter sized trocar 128, a minimum diameter sized trocar 130, smaller in diameter then the maximum sized trocar 128.
  • the maximum and minimum sized sleeves 124, 132 have an inner diameter fitting maximum, and minimum diameter drills 134 for drilling in bone structure, and the minimum diameter sized trocar 130 restricts for instance fluid from gushing through the minimum diameter sized sleeve 132, when the minimum sized trocar 130 is removed, and utilized during surgery together with the sleeves 124 and 132 mounted on the assembled handle 112 inside the main sleeve 118.
  • the tool set 110 provides a handle section 114, with a male shaped receptor 115, which fits with a female C-shaped receptor 16 for auxiliary tools/devices, such as a camera 94, and a 3D tool 112.
  • the maximum sized sleeve 124 is inserted to the head sleeve 118, which is assembled into the handle 112 head sleeve 118 inner cylindrical surface.
  • the measuring probe 136 is inserted into the maximum sleeve 124, and the robot arm (not shown) is moved to a correct position, by a computer program, pointing at the correct angles for surgery on a human/animal body’s skin to be operated. Thereafter, the measuring probe 136 is removed, and a scalpel 126 replaces the probe 136, to make an incision in the skin.
  • the scalpel 136 is removed from the maximum sized sleeve 124, and the maximum diameter sized utilized trocar 128 is placed in the maximum sleeve 124, to punch a hole/opening/cavity through the body tissue, the maximum diameter sized trocar 128 and sleeve 124 protrude out of the main sleeve 120, to be pounded by a surgical hammer, the sleeve 124 being situated flush to a bone structure.
  • the maximum sized trocar 128 is quickly removed out of the maximum sized sleeve 124, and the minimum diameter sized sleeve 132 with a minimum diameter sized trocar 130 is inserted into the minimum sized sleeve 132, whereby both are inserted into the maximum sleeve 124 to be pounded by a surgical hammer as described for the maximum sized sleeve 124 and trocar 128.
  • the minimum trocar 130 is removed, and a minimum diameter sized drill 134 is inserted into the minimum sized sleeve 132.
  • Fig. 10 depict how the items described are utilized.
  • Fig. 11 depicted in Fig. 11 are different C-shaped receptors 99 to fit cameras 94, 3D scanning equipment 102, x-ray robot arms, and other devices utilized in a hospital theater.

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  • Heart & Thoracic Surgery (AREA)
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Abstract

Described herein is a measuring arrangement (8, 10, 12, 14a, 16, 20, 24) adapted to be attached to a medical surgery robot arm for structural bone surgery purposes. It measures the distances to a person's tissue and bone when applying surgical tools for its purpose. Further described herein is a cable inlet duct (42, 44), a modular utilized tool support (80) and a modular tool set (110).

Description

A MEASUREMENT ARRANGEMENT, A CABLE INLET DUCT, A MODULAR UTILIZED TOOL SUPPORT AND A MODULAR TOOL SET ADAPTED TO MEDICAL SURGERY
Technical field
[First invention] The present invention pertains to a to a measuring arrangement adapted to be attached to a medical surgery robot arm for structural bone surgery.
[Second invention]
Another embodiment of the present invention pertains to a cable inlet duct, and an assembly therefor adapted to support for instance a digital display screen arm cable bundle. The inlet duct is circularly movable around its axis and mounted on a supporting frame for the digital display arm, guiding and accommodating the cable bundle from damage by bending and chafing, and its suitably kept centred along the inlet axis. [Third invention]
Yet a further embodiment of the present invention pertains to a modular utilized tool support adapted to attach a mechanical female receptor, with an engagement space for sterile draping/covering of devices. [Fourth invention]
Yet one embodiment of the present invention pertains to a modular tool set, adapted for surgery on human beings, and animal bone structures.
Background art
[First invention] It is of crucial importance for a surgeon to guide the tools such as scalpels, drills and tracors to a correct position for surgery, especially when a robot is utilized for this purpose on human beings and animals. A false reading of distance and angle for surgery can lead to collateral damage on tissue and the bone structure causing for instance restructure surgery and other problems known to a person skilled in the art. Hence, there is a need for a safe measurement arrangement for robot surgery in medical theatres.
[Second invention]
Furthermore, It is a well-known that cables can be damaged when turned repeatedly, which is the case when for instance a machinery whit a movable arm hosting a cable/cable-bundle is utilized in different positions or transported in such positions. Commonly edges on the robot in use frame will expose its cables to a sharp bending. Eventually, the cable will be damaged/crooked, and thus to be replaced or mended. It is also a problem to attach a cable carrying arm to be mounted on frames with different surfaces on a frame, such as inclined frames.
[Third invention]
Moreover, there is a request for keeping devices/machinery/surgery robots, and the like sterile in environments such as theatre rooms in hospitals, laboratories, and others. As an example, a theatre room for surgery in a hospital during preparations for surgery and surgery itself, the machinery utilized, is moved to many departments/places, or is situated stationary. Nevertheless, a patient must be protected from germs, bacteria, and like hazards in these environments, not to be spread. For instance, nosocomial infection is a common disease that is very hard to combat.
Currently, a surgeon draping/covering machinery, with for instance a sterile plastic cover, utilizes for instance a scalpel to poke/punch/puncture a hole in the drapery utilized for germ protection, to allow a surgery tool to protrude out of the drapery to engage into a patient, and covering the machinery or at least parts of it. This is a very harsh procedure, as the hole made with the scalpel is prone to an air inlet/outlet, inviting germs to be spread towards a patient. Moreover, during a long-term utilization of the machinery, it wil be contaminated.
Prior art regarding a tool support is disclosed through the Patent application US 20190000580 A1 to Scheib et al.
[Fourth invention]
Moreover, different theatres provide surgical tools/instruments, which manly differ in size/diameter. Hence, it would be appreciated with a module support tool fitting different hospital tool set.
Still further, currently during surgery on human, and animal bone structures is accomplished by utilizing trocars to open tissue, so that it reveals the bone structure to be drilled in, for insertion of stabilizing material. To fixate broken bone parts such mechanical members as for instance spikes, nails, and rods of a suitable material plastics, titanium and other materials known to a person skilled in the present art are utilized.
It is known in the art that when utilizing a custom trocar to penetrate tissue, there will be, for instance gushing of fluid such as waterish ones, blood, and other body fluids contaminating tools, instruments, personnel. As is obvious, surgeons want to prevent this if possible. Other problems relate to the size of sleeves, and medical tools utilized in a hospital for surgery, for instance relating to different existing standards, for example those relating to the inner, and outer diameter utilized for surgery.
The following documents adhere to the prior art CN 209153975 to Presently, the described problems are not solved. Hence, it’s an aim among others of the present invention to solve them.
Summary of the invention
[First invention]
It is one aim of the present invention to solve problems mentioned above, and others known to a person skilled in the art of measuring distances from a surgery tool to tissue and bone structures during surgery.
To accomplish this, the present invention provides a measuring arrangement adapted to be attached to a medical surgery robot arm for structural bone surgery, Hereby, it provides a carrier comprising a sleigh support, which is connected to at least one holder. The carrier is also equipped with a wedged electricity conductive member, provided to be utilized in distance measuring of the movement of the carrier.
Moreover, a firmament is mounted on the robot on which the carrier is attached through said at least one holder. Hereby, the sleigh support is provided to slide in the at least one holder. The holder is equipped with sliding means for the sleigh/sliding support, and the sleigh support is provided freely movable mounted on at least one holder within its physical constraints.
Furthermore, the carrier has attached to it an adapter for attachment of surgery equipment/tools. Herewith, the firmament is equipped with an electromagnetic field providing a sensor device, which reads the electromagnetic field provided between the wedge measurement member and the electromagnetic sensor device. The electromagnetic field varies in strength when the wedged measurement member slides with the carrier in front of the measurement sensor device in a straight fixed course. Thus, the measuring sensor device provides signals obtained by it from measured fluctuations of the electromagnetic field, these are transformed to distances on behalf of the sliding movement of the carrier through the wedged measurement members sliding movement, by a control unit for said measuring arrangement when the carrier is operated by hand.
[Second invention]
It is a further aim of the present invention to solve the problems, mentioned above, and others known to a person skilled in the art in the technical field of for instance robot digital display arms utilized for medical surgery, where the robot digital display arm attends cables and wires carrying signals and power to and from a guiding and power unit. Another aim of the present invention is to enable an inlet duct to be inclined in different degrees to accommodate that the inlet duct can be attached to for instance a robot frame, which is inclined or slanting, thus the inlet duct can be attached in a position pointing vertically upwards or even be attached inclined in a suitable mode to a virtual vertical axis.
It is appreciated that the inlet duct and its assembly may be used in other technical fields then the medical field to accommodate cable bundles where swivels are utilized to turn an arm on a frame, body, or housing
Hence, the present invention puts forth a cable inlet duct having a larger and a smaller outer and inner diameter adapted to support a medical surgery robot digital display arm cable bundle and the arm itself. The inlet duct is circularly movable around its own axis and constructed to be mounted vertically on a supporting frame for the robot digital display arm, to guide an inserted cable bundle from being damaged by bending and chafing, and suitably kept centred along the inlet duct axis.
Hereby, the cable inlet duct is moveably mounted in an assembly on the frame, whereby the inlet duct provides a first recess on its body at the larger diameter body part.
The recess is open at its upward pointing top adapted to the insertion and/or output of a cable bundle, and the first recess is smoothly slanted and rounded at its bottom to allow a cable bundle to be gently inserted and/or output through the inlet ducts larger inner diameter.
Moreover, it provides a second recess on the smaller diameter of the cable inlet duct beneath the first recess acting as an inlet opening to aid a cable bundle to be fed/pushed upwards and/or downwards. This can be accomplished by utilizing for instance a tool/finger for it to be straight centred along the axis smaller tighter inner diameter adapted to the diameter of a cable bundle in use. Hereby it allows a cable bundle to be straight centred and tightly inserted and/or output through the first recess by a person. Hence, the cable bundle is upheld and centred, and it prevents it from a sharp bending or bending at all as well as chafing.
In one other embodiment the cable inlet duct is provided with two collars. A first collar has its bottom face/surface cut slanted in a suitable degree for attachment to a frame. The first collar is mounted on the upper face of the frame. A second collar provided has its upper face cut slanted in the same degree as the first collar, to be attached to the opposite face of the frame utilized in an assembly to guide the inlet duct to be mounted vertically on the frame.
Yet another embodiment provides that the inlet duct is mounted tilted on the frame.
A still further embodiment of the present invention provides that the cable duct assembly can be tilted from 90 to 45 degrees with regard to a slanting frame on which it is mounted. Moreover, the present invention provides the assembly mentioned, where it comprises said parts and features mentioned in the tatter.
[Third invention]
A still further aim of the present invention is to provide an embodiment regarding a modular utilized tool support adapted to attach a mechanical female receptor with an engagement space for sterile draping/covering of devices or parts of them. Constructed as a mechanical male shaped receptor, to engage with a sterile draping/cover and the female receptor, partitioned into a stationary part, and at least one flexible part. The flexible part has a spring action, making up a snap clutch, adapted to lock and release the flexible part to the female receptor part, through the snap clutch back and forth moving parts, when put into or released from pressure.
Another embodiment of the present invention provides a tool support, having an adjustment means for the thickness of a sterile draping/cover placed to be locked between the snap clutch, and the female receptor.
A further embodiment provides a locking/release leveller, engaging a cam to rest against the at least one flexible part.
Moreover, the present invention provides the utilization of a modular tool support adapted for surgery.
[Fourth invention]
A still further aim of the present invention is to provide a modular tool set allowing different sized tools to be attached to a robot arm for medical surgery on human beings and animals.
Therefore, in a preferred embodiment of the present invention it provides a modular tool set, adapted for surgery on human beings, and animal bone structures. Hereby, it comprises a handle, a handle base, having a female receptor, to relate to a male receptor on a surgery robot arm, a head adapter on the handle, a main sleeve, with an attached connector, holding the main sleeve.
To achieve the objectives of the present invention, it provides an outer maximum diameter sized sleeve, fitting into the main sleeve inner diameter space, in which tools for surgery with a sized maximum diameter fit into, and an inner minimum diameter sized sleeve fitting into the outer maximum diameter sleeve inner diameter space, in which tools for surgery with a minimum sized diameter fit into. The tools in the tool set are measuring probe, trocars, sleeves, and drills of the maximum and minimum size.
Another embodiment of the present invention provides that the handle base comprises a male shaped receptor fitting with a female receptor for attachment of auxiliary tools.
Moreover, the present invention provides a method for utilization of a modular tool support adapted for surgery with a robot.
Brief description of the drawings
Henceforth reference is had to the attached drawings in the accompanying text of the description, for a better understanding of the present invention, with its embodiments and given examples, wherein:
[First invention]
Fig. 1a and b illustrate a measuring arrangement according to one embodiment of the present invention;
Fig. 2 illustrates a robot arm firmament in greater detail in accordance with the present invention; and
Fig. 3 illustrates an assembled measurement arrangement in accordance with the present invention.
[Second invention]
Fig. 4 illustrates a cable duct inlet and its assembly according to one embodiment of the present invention;
Fig. 5 depicts a robot digital display arm and a display screen in accordance with the present invention;
Fig. 6 schematically illustrates a display arm swivel attached to a face of a frame; and
Fig. 7 schematically illustrates an assembly of a frame showing how a cable bundle protrudes out of an assembly with an inlet duct in accordance with the present invention.
[Third invention]
Fig. 8 illustrates a tool support/bracket according to one embodiment of the present invention; and
Fig. 9 schematically depicts a module utilization of the tool support in accordance with the present invention.
[Fourth invention]
Fig. 10 illustrates a tool set for bone structure surgery, according to one embodiment of the present invention: and Fig. 11 schematically illustrates a module utilization of the tool set in accordance with the present invention.
Detailed description of preferred embodiments
[First invention] It is one aim of the present invention to solve problems, regarding the technical field of measuring distances from a surgical tool to tissue and bone structures during surgery.
With reference to Fig 1a and 1b, it illustrates a measuring arrangement 8,10,
12, 14a, 16, 20, 24 adapted to be attached to a medical surgery robot arm for structural bone surgery. It comprises a carrier 8 housing a sleigh support 10, which is connected to at least one holder 12, in Fig. 1 two holders are shown. Hereby, the carrier 8 is equipped with a wedged electricity conductive member provided to be utilized in distance measuring of the movement of the carrier.
A firmament 18, 20, 22 is mounted on the robot arm attaching the carrier 8 through the two holders 12, whereby the sleigh support 10 is provided to slide in those holders 12. The holder 10 has sliding means for the sleigh support 10 so it is enabled to slide. Sliding means could for instance be of the ball bearing type or other friction reducers. The sleigh support 10 is freely movable, mounted on the holders 12, within its physical constraints by its length and provided attenuator/pad means known to a person skilled in the art.
Depicted in Fig. 1b is the wedged electricity conductive member 14b, which is shown mounted in the carrier 8, slightly visible as member 14a.
The T-shaped firmament 18, 20, 22 is equipped with an electromagnetic field providing a sensor device 24, in Fig. 1b, connected through wiring or a cable transmitting signals of measurements to a control unit, not shown, which reads the electromagnetic field provided between the wedge-shaped measurement member 14a, 16 and the sensor device 24.
In Fig. 3, the firmament 18, 20, 22 itself is shown in greater detail with its T- shape attached to a plate 18 for fastening of the entire firmament 18, 20, 22 to a robot arm, not shown. The holders 12 are attached on the firmament plate 22. Also depicted are the apertures 28, 29 for the signal sensor device 24 and its cable 26.
Herein, the operation of the electromagnetic field and the sensor 24 while measurement is provided. The electromagnetic field varies in strength when the wedge- shaped measurement member 14a, 16 is operated to slide with the carrier 8, in front of the measurement sensor device 24, the measuring sensor 24 provides signals obtained by the fluctuation/change of the electromagnetic field, which changes in strength with the distance to every point/area on the wedged-shaped member 14a, 16, where 16 is a plate provided to smoothen the wedge surface attachment means to the carrier 8, for instance screws.
Hereby, signals from the sensor 24 are transformed to distances on behalf of the sliding movement of the carrier 8 through the wedged measurement members 14a, 16 sliding movement by a control unit for said measuring arrangement 8,10, 12, 14a, 16, 20, 24 when operated.
An example of a conductive measurement sensor for the present invention is the conductive proximity sensor DW-AD-509-M 18-320 from the company Contrinex AG, which senses changes in the magnetic field when measuring towards a conductive metal such as steel, aluminium, brass etc.
Referring to Fig. 3, the measuring arrangement is depicted, where the carrier 8 is provided an adapter 26 for attachment of surgery equipment and a housing/cover 32. It is depicted how the firmament parts 20, 22 are situated in the sliding slot of the carrier 8.
[Second invention]
It is one aim of the present invention to solve problems, regarding the bending of cables/wiring, which is a well-known problem to a person skilled in the art, and thus appreciated if it is solved entirely or to an extent. Herein, it is directed to the technical field of robot digital display arms utilized in medical surgery, where the robot digital display arm attends cables and wires carrying signals or power to and from a display screen for personnel operating the robot.
Another aim of the present invention is to enable an inlet duct to be inclined in different degrees to accommodate that the inlet duct can be attached to for instance a robot frame, which is inclined or slanting, thus the inlet duct can be attached in a position pointing vertically upwards or even be attached inclined in a suitable mode to a virtual vertical axis.
Throughout the following description, the present invention is explained with guidance of Fig. 4 to 7 and by given examples. Hence, the present invention puts forth a cable inlet duct having a larger and a smaller outer and inner diameter adapted to support a medical surgery robot digital display arm cable bundle and the arm itself.
Fig. 4 shows an assembly of an inlet duct 40 in accordance with the present invention, whereby the inlet ducts body 42, 44 have different outer and inner diameters. The duct body part 42 has the larger diameters, and the part 44, the smaller diameters adapted to house and/or uphold a cable bundle 78 Fig. 7, with a slightly smaller cable bundle 78 diameter then the inner diameter of the smaller inner diameter part 44 to fit firmly centred in the duct part 44, not being able to be bent or twisted due to for instance its tight fit in the inlet duct part 44, still being able to swivel with the turning display screen arm 68 Fig. 7, thus preventing it from being twisted or to chafing inside the duct part 44 inner valve. To assemble an inlet duct to a robot frame, the following parts are depicted in one embodiment of the invention. It should be noticed that a person skilled in the art may prefer other known assemblies and mechanical objects suited for this purpose. Nevertheless, the main objective of the present invention is the inlet duct 42, 44 and its features as well as the collars/washers 56, 60.
The inlet duct 42, 44 is assembled and inserted into a plastic bushing 50, and the parts 42, 44 and 50 are inserted into a sleeve 56 with threads not shown. A pin 26 with spring action faces the bottom of the inlet duct 42, 44. On the front/upper face of a robot 44 in Fig. 6 and 7, frame/housing, the duct 42, 44 is vertically mounted, in one embodiment of the present invention, and freely movable with the plastic bushing 50 and the sleeve 52 with a slight inertia between the plastic bushing 50 outer body and the sleeve 52 and assembled with collars/washers 56, 58, 60. At the opposite face of the robot frame 74, the inlet duct 42, 44 and its assembly parts are tightened and locked with a nut 62 engaging the threads, not shown on the sleeve 54. Locking measures, such as providing retaining rings 64 can be applied.
At the top of the inlet duct a washer 66 is the interface between the actual arm/arms 68 of the robot display screen in Fig. 5, mounted flush to the inlet duct part 42. The retaining ring 64 in this assembly is mounted in a groove of the top washer 66 to retain the washer 66 not to unnecessarily grind against the top of the inlet duct part 42 when the swivel 72 is turned.
The inlet duct 42, 44 is circularly movable around its own axis and constructed to be mounted vertically, in one embodiment of the present invention, on a supporting frame for the robot digital display screen 70 arm/arms 68, to guide and prevent an inserted cable bundle 78 from being damaged by bending, and suitably kept centred along the inlet duct axis.
Hereby, the cable inlet duct 42, 44 is moveably mounted in an assembly Fig, 4 40 on the frame 74, whereby the inlet duct 42, 44 provides a first recess 46 on its body at the duct part 42 with the two larger diameters. The recess 46 open at its upward pointing top adapted to the insertion and/or output of a cable bundle 78. The first recess 46 is smoothly rounded and somewhat slanted towards the inside of the duct part 42 at its bottom to allow a cable bundle 78 to be gently inserted and/or output through the inlet ducts 42 larger inner diameter, not to be chafed. Moreover, every edge of the inlet duct 42, 44 is smoothly rounded to inhibit damage on a cable bundle 78 inserted in the duct 42, 44 and the entire assembly 40.
Furthermore, it provides a second recess 48 on the smaller diameter of the cable inlet duct 42, 44, fully closed beneath the first recess 46 acting as an inlet to aid a cable bundle 78 to be pushed/fed upwards and/or downwards. This can be accomplished by utilizing for instance a tool and/or a finger for it to be straight centred along the axis of the duct smaller tight inner diameter adapted to the diameter of a cable bundle 78 in use.
Hereby, it supports a cable bundle to be straight centred and tightly, but still movable, inserted to an extent that it does not twist or chafe the cable bundle 78, inserted and/or output through the first recess 46 by a person. Hence, the cable bundle 78 is upheld and centred, which prevents it from for instance bending.
It is appreciated that the shape of the recesses 46, 48 can vary from a strict U- shape to other shapes known to a person skilled in the art.
The present invention also comprehends to collars/washers 56, 60. A first collar 56 is manufactured with its bottom face cut slanted in a suitable degree for attachment to a frame 74. Hence, the first collar is mounted on the upper face of the frame 74, whereby the second collar 60 has its upper face cut and manufactured slanted, in the same degree as the first collar 56 to be attached to the opposite face of the frame. Herewith it is utilized in the assembly 40 to guide the inlet duct to be mounted vertically on a slanted/inclined frame 74.
Also, the latter embodiment makes it possible to be mounted tilted on a frame 74 for instance tilted from 90 to 45 degrees in different directions on the frame 74.
Still further the present invention provides the assembly 40 comprising the parts/objects and features described in this disclosure.
Depending on different cuts applied for the collars 58, 60, the collar 56 must be refurnished and adapted to the collar 58. This collar 56 should be nice for a view of a beholder.
Fig. 5 depicts a robot digital display arm 68 and a display screen 70 with its swivel 72 and shaft 40 affixed in accordance with one embodiment the present invention.
The shaft 78 is fixed with suitable known means to the inlet duct 42, 44 to turn with it.
Fig. 6 schematically illustrates a display arm 68 swivel 72 attached to an upper face of a robot frame 74, also showing the assembly 40 schematically depicted.
Fig. 7 schematically illustrates an assembly 40, 44, 56 of a frame showing how a cable bundle 78 protrudes out of an assembly 40 through the inlet duct 42, 44 part 46 recess in accordance with one embodiment of the present invention.
[Third invention]
Currently, a surgeon draping/covering a machinery, with for instance a sterile plastic cover, utilizes a scalpel, if not a pen, to poke/punch/puncture a hole in the drapery utilized for germ protection, to allow a surgery tool to protrude out of the drapery to engage into a patient, and covering the machinery. This is a very harsh procedure, as the hole made with the scalpel is prone to an air outlet/inlet, inviting germs to enter inside/outside the draping cover. Moreover, during a long-term utilization of the machinery, it wil be contaminated. Hence, the present invention presents a tool support/bracket, where no holes are punched in the draping/covering.
It also provides a utilization of the modular tool support in hospital theaters, attached to a robot arm.
The present invention relates to a tool support/bracket adapted to be utilized in a sterile environment as it has been elaborated in the former text of this description, and by further examples, and embodiments described in the below text. Given are non-limited versions of the present invention. Hence, the following description is headed to a description of the mechanical parts and its functioning, of the sterile cover support tool in accordance with the present invention, through Fig. 8 and Fig. 9, with their depicted reference numerals,
Fig. 8 shows an exploded view of a tool support 80, according to one example of the present invention. Hence, it comprises guiding pins 82, and screws/bolts 84, to assembly mechanical parts, as known to a person skilled in the art, thus no further common mechanical assembly means will be described. Depicted as reference numeral 86, in Fig. 8 is the mechanical body part/bracket that is attached to the machinery, for instance a robot arm, not shown, for surgery in a tissue/bone structure of human beings, and animals to perform a sterile surgery according to one example of the present invention.
The clutch parts 89, 90, 92 act as mechanical male receptors, when connected/snapped into the handle in Fig. 9. Pins 91 are equipped with mechanical springs, which are known to a person skilled in the present art, not shown. It is appreciated that the spring feature is one out of many possible, it may be made of any elastic material, thus the spring described herein is only one of many possible functioning springs. Clacks 90, 92 are through spring action moving back and forth when put into or released from pressure, and fit into the stationary part 88 when assembled. The clacks 89, 90 are rounded 92 to fit into a female connection 30, 38, shown in Fig. 9, and not to damage a sterile draping placed there.
A stationary part 88 shaped as clacks 89 is not moving when engaged, constituting a snap clutch 80, 88,89, 90, 91 with spring acting features not shown, being attached to the support tool 86, 88 on. The leveler 94 is utilized to lock/release the clutch 80 in the C-shaped space 86 in Fig. 9 of a female receptor for attachment of tools, and when utilized a tool handle 82 with its properties for invasive surgery on human/animal tissue/bone is in one piece with the female shaped 86 receptor 98, as depicted in Fig. 9 92, 94, 96, 98 is utilized. A locking cam 96 front flattened surface engages the clacks 90 to lock the clutch 80 to the handle female receptor 98 to the clutch 80 in the C-shaped space 86. The tool support 88 comprises a locking/release leveler 94, engaging the cam 96 to rest against, the at least one flexible body part 90, in this example two flexible body parts 90.
In Fig. 8, a locking means 95 utilized to firmly lock the female shaped receptor 98 to the clutch 80 is shown, here a screw, and operating and holding the locking notch 96, which thus stays to adjust to the thickness of a sterile draping/covering placed between the female shaped receptor 98 and the clutch 80 parts 90, 92 in a position adapted to the thickness of a draping so that the draping is not damaged due to excessive pressure and tear. A draping is for instance a plastic sheet/cover 40, Fig. 2, or fabric paper and the like known to a person skilled in the art. The adjusting/locking screw adjusts the tool support 80 and clutch in its entire to the thickness of the draping/covering 40 together with the notch 96, thus tuning the clutch to a nominal pressure on the draping/covering 40 placed between the space 86 on the handle 82, and the entire clutch 80 to cover a device utilized in a sterile environment, in this example a robot, used to perform surgery on human or animal bone structures, but not limited to a robot as a device. Also, other life adding equipment such as heart and lung machines, measuring equipment such as for pulse and blood pressure measuring, and the like known to a person skilled in the art, may be considered.
Now reference is had to Fig. 9, with its schematically illustrated utilization of a tool support system in accordance with the present invention. Nota bene that utilized reference numerals comply with those in Fig. 1.
Depicted in Fig. 9 is the handle 82 equipped with a C-shaped adapter 98, showing the female receptor 86 inner space, utilized to attach tools for surgery such as a trocar, drill, knife, puncher, and others known to a person skilled in the art. Moreover, depicted is a C-shaped receptor 38 for tools to be attached to the handle 82 shaft. It is appreciated that the l-shaped body part 85 can be a connector/receptor of its own if a handle shaft 82 is not needed or in use. Thus, tools or other equipment can be attached through the l-shaped receptor 85 in Fig. 9. The adapter 92 is constructed as a custom-made sleeve, to fit different hospitals tool sets 96,
Furthermore, depicted in Fig. 9. Are different C-shaped receptors 98 to fit cameras 94, 3D scanning equipment 98, x-ray robot C-arms and other devices utilized in a hospital theater known to a person skilled in the art.
Hence, the utilization of the present invention comprises a mechanical male shaped receptor/clutch 80, to engage with a female receptor 98, partitioned into a stationary part 88, 89, and at least one flexible part 90. The flexible part 90 has a spring action, making up a snap clutch 80, 89, 90, 91 , 92, adapted to lock and release the flexible part 90 to the female receptor part 98. Hereby, the snap clutch has a back-and-forth movement, with at least one movable part 90, 91 , 92, when put into or released from pressure. Moreover, the female receptor 98 can be equipped with modular brackets 99 for attachment of auxiliary equipment 94, 102.
[Fourth invention] A surgery through human and animal tissue induces body fluids, such as for instance water, blood by pressure gush/burst out of an open cavity, through the penetration of tissue before a bone fixating surgery can be applied. The opening/cavity is made by trocars utilized by surgeons for instance via a robot and its arm holding the trocar in position for penetration of tissue before reaching the bone(s) to be fixated. A maximum diameter sized sleeve is utilized, fitting a maximum diameter trocar, which penetration diameter is standardized, and only one trocar is currently used during surgery. Thus, the outer diameter is of a maximum size to push away tenants and tissue to make as little damage to it as possible, when it is removed from the sleeve holding it to allow insertion of a drill in the sleeve, for instance body fluids gush out under pressure, contaminating the robot arm with its attached tools, and the surrounding environment causing inconvenience, and possible biohazards. Its appreciated that tools utilized fit into maximum and minimum sized sleeves, which is not the current case.
Henceforth, the present invention and its benefits is described in the forthcoming text, with reference had to the attached Fig. 10, and Fig. 11.
Fig. 10 depicts a tool set 110 in accordance with the present invention, when assembled, and utilized for surgery attached to for instance a robot movable arm (not shown). The tool set 110 is adapted to for instance reduce fluid gushing out during surgery on human beings, and animal bone structures through body tissues to be removed, widened, to reach the bone structure of concern for surgery. It comprises a handle 112, a handle base 114, equipped with a female receptor 116, to relate to a male receptor 100 in Fig. 11. Also, adapted to connect auxiliary surgery tools through a male receptor 115 and 100 in Fig. 11, for instance a camera 94, schematically depicted in Fig. 11, on a surgery arm device such as a robot arm, not shown.
Fig. 11 schematically illustrates a module utilization of the tool set in accordance with the present invention.
In Fig. 10, is depicted a head adapter sleeve 118 on the handle 112, an inner sleeve 120 fits in the head sleeve 118, a spring 122 utilized for a bayonet coupling lock and release, as well as the tools and sleeves 124, 126, 128 130, 132, 134, where the maximum sized sleeve 124 fits in the outer sleeve 120 inner diameter. An attached connector 123 is fixated to the outer sleeve 120, also acting as a base for the spring 22. Furthermore, the tool set 116, 130, 132, 134, 136, 137, 138 comprises a maximum diameter sized sleeve 124, where tools for surgery, and sleeves, 132 are inserted in its inner cylindrical surface.
Mentioned tools are a measuring probe 136, a maximum diameter sized trocar 128, a minimum diameter sized trocar 130, smaller in diameter then the maximum sized trocar 128. The maximum and minimum sized sleeves 124, 132, have an inner diameter fitting maximum, and minimum diameter drills 134 for drilling in bone structure, and the minimum diameter sized trocar 130 restricts for instance fluid from gushing through the minimum diameter sized sleeve 132, when the minimum sized trocar 130 is removed, and utilized during surgery together with the sleeves 124 and 132 mounted on the assembled handle 112 inside the main sleeve 118.
In one embodiment of the present invention, the tool set 110 provides a handle section 114, with a male shaped receptor 115, which fits with a female C-shaped receptor 16 for auxiliary tools/devices, such as a camera 94, and a 3D tool 112.
Henceforth, the operation of a tool set 110 when assembled and in use, is described. The maximum sized sleeve 124 is inserted to the head sleeve 118, which is assembled into the handle 112 head sleeve 118 inner cylindrical surface. Firstly, the measuring probe 136 is inserted into the maximum sleeve 124, and the robot arm (not shown) is moved to a correct position, by a computer program, pointing at the correct angles for surgery on a human/animal body’s skin to be operated. Thereafter, the measuring probe 136 is removed, and a scalpel 126 replaces the probe 136, to make an incision in the skin. When this is accomplished, the scalpel 136 is removed from the maximum sized sleeve 124, and the maximum diameter sized utilized trocar 128 is placed in the maximum sleeve 124, to punch a hole/opening/cavity through the body tissue, the maximum diameter sized trocar 128 and sleeve 124 protrude out of the main sleeve 120, to be pounded by a surgical hammer, the sleeve 124 being situated flush to a bone structure. Leaving an indentation in the bone, and the maximum sleeve 124, having barbs, being stuck there flush to the bone, thus fixating the direction of where a drill 134 is to be used, and the sleeve 124 barb tip rests firmly against the surface of the bone where the drilling shall take place as a firm fixated guidance sleeve 124 for a surgeon.
The maximum sized trocar 128 is quickly removed out of the maximum sized sleeve 124, and the minimum diameter sized sleeve 132 with a minimum diameter sized trocar 130 is inserted into the minimum sized sleeve 132, whereby both are inserted into the maximum sleeve 124 to be pounded by a surgical hammer as described for the maximum sized sleeve 124 and trocar 128. Hereafter, the minimum trocar 130 is removed, and a minimum diameter sized drill 134 is inserted into the minimum sized sleeve 132.
The actual drilling in the bone structure is now accomplished. Thereafter, the bone structure is fixated, with spikes, nails, rods, pins, or other members known to a person skilled in the art. The example with fluid gushing out of a wound depicts just an example of why different sized tools are necessary, and thus implying, the necessity of a modular tool set with different sized diameters described in the present application.
The lines in Fig. 10, without reference numerals, depict how the items described are utilized. Furthermore, depicted in Fig. 11 are different C-shaped receptors 99 to fit cameras 94, 3D scanning equipment 102, x-ray robot arms, and other devices utilized in a hospital theater.
The present invention is not restricted to the examples and given embodiments presented above. A person skilled in the art can derive further possible embodiments by the attached set of claims.

Claims

Claims: [First invention]
1. A measuring arrangement (8,10, 12, 14a, 16, 20, 24,) adapted to be attached to a medical surgery robot arm for structural bone surgery characterised in that it comprises: a carrier (8) comprising a sleigh support (10), being connected to at least one holder (12), said carrier (8) having a wedged member, which is electricaly conductive member provided to be utilized in distance measuring of the movement of said carrier (8); a firmament (18, 20, 22) mounted on said robot arm having attached said carrier (8) attached through said at least one holder (12), whereby said sleigh support (10) is provided to slide in said at least one holder (12), said holder (10) being equipped with sliding means for said sleigh support (10), and said sleigh support (10) being freely movable, mounted on said at least one holder (12), within its physical constraints; said firmament (18, 20, 22) being equipped with an electromagnetic field providing sensor device (24), which reads said electromagnetic field provided between said wedge measurement member (14a, 16) and said device (24), wherein said electromagnetic field varies in strength when said wedged measurement member (14a, 16) slides with the carrier (8) in front of said measurement sensor device (14a, 16), whereby said measuring sensor (24) providing signals obtained by it for said fluctuation of the electromagnetic field, which are transformed to distances on behalf of the sliding movement of said carrier (8) through said wedged measurement members (14a, 16) sliding movement, by a control unit for said measuring arrangement (8,10, 12, 14a, 16, 20, 24,) when operated.
[Second invention] 2. A cable inlet duct (42, 44), in one piece having a larger and a smaller outer and inner diameter adapted to support a swivelling arm (72) when a cable bundle (78) is inserted to it and said arm (68), said inlet duct (42, 44) being circularly movable around its own axis, and constructed to be mounted vertically on a supporting frame (74) for said digital display arm (68) to accommodate an inserted cable bundle (78) from being damaged by bending and chaffing, and suitably kept centred along said inlet duct (42, 44) axis, characterized in that said cable inlet duct is moveably mounted in an assembly (40) on said frame (74), said inlet duct (42, 44) providing a first recess (46) on its body at said larger diameter, open at its upward pointing top, adapted to the insertion/output of a cable bundle (78); said first recess (46) being smoothly slanted and rounded at its bottom to provide a cable bundle (78) to be gently inserted/output through said inlet duct (42, 44) larger inner diameter; and providing a second closed recess (48), on said smaller diameter of said cable inlet duct (42, 44) beneath said first recess (46) acting as an inlet to aid a cable bundle (78) to be fed upwards/downwards said inlet duct axis by utilizing a tool/finger, for it to be straight centred along said axis smaller tighter inner diameter adapted to the diameter of a cable bundle (78) in use, allowing a cable bundle (78) to be straight centred and tightly inserted/output through said first recess (46).
3. A cable inlet duct (12, 14) according to claim 2, where its attachment to a frame is providing to collars (58, 60), a first collar (58) having its bottom face cut slanted in a suitable degree for attachment to a frame (74), said first collar mounted on the upper face of said frame (74), having a second collar (60) having its upper face cut slanted, in the same degree as the first collar (58), to be attached to the opposite face of said frame, utilized in said assembly (40) to guide said inlet duct to be mounted vertically on said frame.
4. A cable inlet duct (42, 44) according to claim 2, where its attachment to a frame is providing to collars (58, 60), a first collar (58) having its bottom face cut slanted in a suitable degree for attachment to a frame, said first collar mounted on the upper face of said frame, having a second collar (60) having its upper face cut slanted, in the same degree as the first collar (58), to be attached to the opposite face of said frame, utilized in said assembly (40) to guide said inlet duct to be mounted tilted on said frame.
5. A cable inlet duct (42, 44) according to claims 3 and 4, wherein said collars (58, 60) are cut slanted to accommodate said inlet duct (42, 44) can be tilted from 90 to 45 degrees regarding a slanting or even frame (74) on which it is mounted.
6. A cable inlet duct (42, 44) assembly (40) characterized in that said assembly (40) comprises said parts and features of claims 2 to 5.
[Third invention]
7. A modular utilized tool support (80) adapted to attach a mechanical female C-shaped receptor (98), with an engagement space (86) for sterile draping/covering (92) of devices, characterized by having a: mechanical male shaped receptor, to engage with said sterile draping/covering and said female shaped receptor (98), partitioned into a stationary part (88, 89), and at least one flexible part (90), said flexible part (90) having a spring action, making up a snap-clutch (80), adapted to lock and release said flexible part (90) to said female receptor part (98), said snap clutch having a back and forth movement, with at least one vertically movable part (90, 91, 92), when put into or released from pressure.
8. A modular utilized tool support (80) according to claim 7, characterized in that it comprises an adjustment means (95, 96) for the thickness of a sterile draping/covering (92) placed to be locked between said snap clutch (80) and said female shaped receptor (98).
9. A modular utilized tool support (80) according to claim 7, characterized in that it comprises a locking/release leveller (94), engaging a cam/notch (96) to rest against said at least one flexible part (90) to lock said clutch (80).
[Fourth invention]
10. A modular tool set (110) adapted for surgery on human being and animal bone structure, characterized by comprising; a handle (112), a handle base (114), having a female receptor (116), to be connected with a male receptor on a surgery robot arm, a head sleeve (118) on said handle (112) an outer sleeve (120); a maximum diameter sized sleeve (124) fitting into said outer sleeve (120) inner diameter space, in which tools for surgery (124, 126, 128, 130, 132, 134, 136) with a maximum sized diameter fit into; a minimum diameter sized sleeve (132) fitting into said maximum sized sleeve (24) inner diameter space, in which tools for surgery (124, 126, 128, 130, 134, 136) with a minimum sized diameter fit into; and said tools being a measuring probe (136), trocars (128, 130), sleeves (120,
124), and drills (134) of said maximum and minimum diameter size.
11. A modular tool set (110) according to claim 10, characterized wherein said handle base (114) comprises a male shaped receptor (115) fitting with a female receptor (116) for auxiliary tools.
12. A method to utilize a modular tool set (110), in accordance with claims 10 and 11 adapted for surgery on human being and animal bone structure with a robot characterized in that it comprises the non-invasive steps of; inserting a maximum sized sleeve (124) to a head sleeve (118), assembled into a said handle (112) head sleeve (118) inner cylindrical surface; inserting a measuring probe (136) into said maximum sleeve (124), and said robots robot arm is moved to a correct position, by a computer program, pointing at the correct angles for surgery on a human/animal body’s skin to be operated; removing said measuring probe (136), and inserting a scalpel (126) when utilized during surgery; removing said scalpel (126) from said maximum sized sleeve (124) during surgery; placing the maximum diameter sized utilized trocar (128) in said maximum sleeve (124), said maximum diameter sized trocar (128) and sleeve (124) protruding out of the main sleeve (16), to be pounded by a surgical hammer during surgery, said maximum sleeve (24), having barbs, firmly fixating the direction of where a drill (34) is utilized during surgery; removing said maximum sized trocar (128) out of the maximum sized sleeve (24) during surgery; inserting a minimum diameter sized sleeve (132), having barbs, with a minimum diameter sized trocar (130) into the minimum sized sleeve (132), whereby both are inserted into the maximum sized sleeve (124) to be pounded by a surgical hammer during surgery; and removing said minimum trocar (130) and inserting a minimum diameter sized drill (134) into the minimum sized sleeve (132).
PCT/SE2021/000002 2020-02-18 2021-02-18 A measurement arrangement, a cable inlet duct, a modular utilized tool support and a modular tool set adapted to medical surgery WO2021167509A1 (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
SE2000039-4 2020-02-18
SE2000038-6 2020-02-18
SE2000037-8 2020-02-18
SE2000038 2020-02-18
SE2000039 2020-02-18
SE2000037A SE544416C2 (en) 2020-02-18 2020-02-18 A tool support adapted to adjustably fit and hold a sterile cover for surgical machinery

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US20030112006A1 (en) * 2001-12-14 2003-06-19 Luetzow Robert H. Magnetic position sensor having shaped pole pieces to provide a magnetic field having a varying magnetic flux density field strength
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Publication number Priority date Publication date Assignee Title
EP0921407A2 (en) * 1997-12-04 1999-06-09 Sony Precision Technology Inc. Magneto-resistive effect sensor and position detection device
US20030112006A1 (en) * 2001-12-14 2003-06-19 Luetzow Robert H. Magnetic position sensor having shaped pole pieces to provide a magnetic field having a varying magnetic flux density field strength
US20050206372A1 (en) * 2004-01-28 2005-09-22 Ratnaparkhi Prakash K Scale
US20080228195A1 (en) * 2007-03-15 2008-09-18 General Electric Company Instrument guide for use with a surgical navigation system
US20100162582A1 (en) * 2008-12-30 2010-07-01 Chih-Mao Shiao Positioning Device of a Magnetic Ruler

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