Patent Application
20230051852
The present disclosure pertains to surgical medical devices. More particularly, the present disclosure pertains to connectors for connecting a robotic arm with a surgical end effector.
There are a wide variety of surgical medical devices. Some of these devices include robotic arms, surgical end effectors, and the like. Of the known surgical medical devices, each has certain advantages and disadvantages. There is an ongoing need to provide alternative surgical medical devices.
This disclosure provides design, material, manufacturing method, and use alternatives for medical devices. A connector assembly for connecting a robotic arm with a medical end effector is disclosed. The connector assembly comprises: a plate configured to be coupled to a robotic arm, the plate having a connection region that includes a flange defining a circumferential groove; an attachment assembly having an attachment region configured to be detachably secured to the connection region with a securing distance of less than 12 millimeters; wherein the attachment region includes one or more engagement members that are configured to shift between an unsecured position and a secured position where the engagement members are secured to the connection region; and an actuator coupled to the attachment assembly for shifting the one or more engagement members between the unsecured position and the secured position.
Alternatively or additionally to any of the embodiments in this section, the plate includes an alignment opening, the alignment opening being configured to allow a sterile barrier adapter to be aligned with the plate.
Alternatively or additionally to any of the embodiments in this section, further comprising: a region of a flexible sterile barrier wedged between the connection region and the attachment assembly, wherein the region lacks an adapter.
Alternatively or additionally to any of the embodiments in this section, the one or more engagement members includes one or more wedge tabs configured to engage the circumferential groove.
Alternatively or additionally to any of the embodiments in this section, the actuator includes a latch.
Alternatively or additionally to any of the embodiments in this section, the plate includes an alignment region.
Alternatively or additionally to any of the embodiments in this section, the end effector has an alignment member configured to engage the alignment region of the plate.
Alternatively or additionally to any of the embodiments in this section, the securing distance is defined by the depth of the puck.
Alternatively or additionally to any of the embodiments in this section, the connection region comprises one or more magnetic field sensors configured to detect one or more magnets of the attachment assembly.
A medical assembly is disclosed. The medical assembly comprises: a plate configured to be coupled to a robotic arm, the plate having a connection puck and one or more locating regions; an end effector having an attachment region configured to receive the connection puck and be detachably secured to the connection puck, wherein the attachment region includes: one or more locating members configured to engage the one or more locating regions of the connection puck so that a sterile barrier can be disposed between the attachment region and the connection puck without requiring a sterile barrier adapter; one or more engagement members that are configured to shift between an unsecured position and a secured position where the engagement members are secured to the connection puck; and an actuator coupled to the end effector configured to shift the one or more engagement members between the first position and the secured position.
Alternatively or additionally to any of the embodiments in this section, the connection puck has a circumferential groove formed therein.
Alternatively or additionally to any of the embodiments in this section, the one or more engagement members includes one or more wedge tabs configured to engage the circumferential groove.
Alternatively or additionally to any of the embodiments in this section, the actuator includes a latch.
Alternatively or additionally to any of the embodiments in this section, the attachment region is configured to be detachably secured to the connection puck with a securing distance of 12 millimeters or less.
Alternatively or additionally to any of the embodiments in this section, the securing distance has a length of 10-12 millimeters.
Alternatively or additionally to any of the embodiments in this section, the end effector is a surgical tool guide.
A method is disclosed. The method comprises: disposing a region of a sterile barrier lacking an adapter over a connection puck of a plate coupled to a robotic arm, wherein the connection puck includes a plurality of locating regions; engaging an attachment region of a medical end effector with the connection puck, wherein the engaging includes: inserting the connection puck into the attachment region, engaging a plurality of locating members of the attachment region with the plurality of locating regions of the connection puck, and sandwiching the sterile barrier between the attachment region and the connection puck; and actuating an actuator of the attachment region to shift one or more engagement members from an unsecured position to the secured position.
Alternatively or additionally to any of the embodiments in this section, actuating the actuator causes one or more wedge tabs of the one or more engagement members to move into a circumferential groove of the connection puck.
Alternatively or additionally to any of the embodiments in this section, further comprising: actuating the actuator of the attachment region to shift the one or more engagement members from the secured position and to an unsecured position; freeing the end effector from the connection puck by axially withdrawing the end effector from the connection puck no more than 12 millimeters; and moving the end effector laterally after freeing the end effector.
Alternatively or additionally to any of the embodiments in this section, further comprising: after actuating the actuator, performing a spinal fusion procedure with the robot arm, the end effector, or both.
The above summary of some embodiments is not intended to describe each disclosed embodiment or every implementation of the present disclosure. The Figures, and Detailed Description, which follow, more particularly exemplify these embodiments.
The disclosure may be more completely understood in consideration of the following detailed description in connection with the accompanying drawings, in which:
While the disclosure is amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the disclosure.
A number of medical procedures, such as spinal surgeries, utilize robotic structures and/or tools that can be manipulated by robotic arms. Such robotic structures may include robotic arms with a connector that allows for tools (e.g., tools suitable for a given intervention) to be attached to the robotic arm. It can be appreciated that a medical procedure may need to utilize a number of different tools in conjunction with the robotic arm. Doing so may necessitate swapping out of various tools at different times during the procedure. Disclosed herein are connectors that can be used with various robotic structures. Such connectors may allow for relatively quick and efficient connection/disconnection of tools and/or provide other benefits as disclosed herein.
The use of the connection region 22 that includes a puck 24 and groove 26 may be desirable for a number of reasons. For example, the puck 24 may be configured so that the groove 26 is relatively close to the front surface 28 of the puck 24. Because of this, a relatively short “attachment distance” may be formed/defined by the puck 24 and groove 26. For the purposes of this disclosure, the attachment distance may be understood as the amount of distance that the plate 16 and the attachment assembly 18 need to be moved in order to attach and/or detach the end effector 14 and/or the robotic arm 12. Stated another way, the attachment distance may be understood as the amount of distance that the plate 16 and the attachment assembly 18 need to be separated or spaced apart from one another during detachment so that they can be moved apart without contacting/interacting with one another. For example, during a procedure in which it is desired for the end effector 14 to be swapped out with another end effector, it would be necessary to detach the end effector 14 from the robotic arm 12 (e.g., detach the attachment assembly 18 from the plate 16) and then move the end effector 14 away from the robotic arm 12 so that it can be replaced by another end effector. In this example, the attachment assembly 12 would need to be shifted away from the plate 16 by a distance greater than or equal to the attachment distance. The length of the attachment region may correspond to or otherwise be defined by the distance between the front surface 28 of the puck 24 and the groove 26. By having a relatively short attachment distance, the distance that is needed to move the end effector 14 away from the plate 16 is kept relatively short, making it easier to swap out tools quickly and efficiently while reducing the likelihood of disrupting the position of the robotic arm 12 (e.g., which may be important when performing a procedure where positional precision is desired). This may also allow for quick release of the end effector 14 from the robotic arm 12 if an urgent need or emergency arises. In some instances, the attachment distance may be about 16 millimeters or less, or about 14 millimeters or less, or about 12 millimeters or less, or about 10 millimeters or less, or about 2-16 millimeters, or about 8-14 millimeters, or about 10-12 millimeters.
In addition to allowing for connection between the plate 16/robotic arm 12 and the attachment assembly 18/end effector 14, the puck 24 and groove 26 on the plate 16 may allow for a connection/securement between the plate 16 and the end effector 14 at a number of different locations about the circumference of the puck 24/groove 26. Because of this, the connection between the end effector 14 and the plate 16 may have an increased stability, which may also help maintain positional precision. For example, in tests to measure the stability of the connection, the connection was shown to withstand 10 pounds of force with minimal deflection (e.g., about 0.10 millimeters or less of deflection). Such tests may include using a fixture that allows for the application of force at a location corresponding to where the theoretical tip center point of the longest pedicle screw contemplated for use would be (e.g., while engaged with a screw driver coupled to the end effector 14).
The plate 16 may also include one or more alignment or locating openings 30. In some instances, the alignment opening(s) 30 may aid in the placement/alignment of a sterile barrier adapter 20 between the plate 16/robotic arm 12 and the attachment assembly 18/end effector 14.
The attachment assembly 18 may also include an actuator 36. The actuator 36 may be used to shift the engagement members 34 between unsecured position (e.g., as shown in
Also shown in
The plate 116 may include an alignment or locating region 154. The alignment region 154 may include one or more cutouts or grooves such as cutout 155 and cutout 158. One or more additional cutouts such as cutouts 160, 162 may also be located about the plate 116. In general, the cutouts 155, 158 (and/or cutouts 160, 162) may help align the connection region 122 of the plate 116 with the attachment assembly 118. More particularly, the shape the cutouts 155, 158, 160, 162 may correspond to and/or be configured to mate with corresponding shapes or projections (e.g., as described below) on the attachment assembly 118. In some instances, the cutouts 155, 158, 160, 162 are distributed about the connection region 122 in a pattern that permits the attachment assembly 118 from inadvertently being misaligned with the connection region 122 of the plate 116. For example, the cutouts 155, 158, 160, 162 may be distributed asymmetrically or in a manner that allows the attachment assembly 118 to engage the connection region 122 in a singular orientation. In some instances, cutouts 158, 162, 160 may be distributed about the plate 116 and the cutout 155 may function to prevent inadvertent misalignment (e.g., because the presence of the cutout 155 may make it impossible for the attachment assembly 118 to mate/engage with the plate 116 in any other orientation than the desired orientation). The locations of the cutouts 155, 158, 160, 162 may form kinematic constraints that constrain the assembly in all degrees of freedom and allow the attachment assembly 118 to be removed and replaced with a relatively tight spherical accuracy (e.g., within about 0.2 mm or less, or about 0.05 mm or less, or about 0.02 mm or less). In other words, the cutouts 155, 158, 160, 162 may help to form a kinematic coupling between the plate 116 and the attachment assembly 118 with a high degree of positional repeatability while constraining the coupling in all degrees of freedom. In addition, the shape of the cutouts 155, 158, 160, 162 may vary from one another. For example, in some instances, the shape or size of one or more of the cutouts 155, 158, 160, 162 differs from one or more of the other cutouts 155, 158, 160, 162. This also helps to aid in aligning the attachment assembly 118 with the connection region 122.
The attachment assembly 118 may include one or more alignment members such as alignment members 150, 152. In this example, the alignment members 150, 152 are designed to engage and/or mate with the cutouts 155, 158, respectively. This allows the attachment assembly 118 to be brought into contact with the connection region 122 in a desired orientation. Moreover, given that the orientation can be controlled with a desired level of precision, additional orienting features (e.g., such as those for aligning a sterile barrier adapter) are not required. Indeed, the controlled orientation of the attachment assembly 118 relative to the connection region 122 allows for a sterile barrier or drape to be draped over the connection region 122 without needing an adapter. This may aid in the maintaining sterility as well as obviate the need for a particular sterile barrier adapter with a particular orienting feature, which may simplify the process of connecting/disconnecting the attachment assembly 118 to the connection region 122.
In some instances, the plate 116 (e.g., the connection region 122) may include one or more sensors, such as one or more magnetic field sensors 156 (e.g., Hall effect sensors). The sensors 156 may be configured to detect one or more magnets 157 (and/or a magnetic region) of the attachment assembly 118 and/or detect the position of the magnets. This may allow for connection between the connection region 122 and the attachment assembly 118 to be detected/sensed.
In addition, the presence or absence of one or more magnets in particular locations can be used to convey information regarding the identity of the end effector 114. For instance, there may be n magnet sensors 156 grouped in the connection region 122 to produce an output usable to determine the identity of the end effector based on the presence or absence of magnets in predetermined locations at the end effector 114. The output of the n magnet sensors 156 can represent the binary form of a number 0 to n2−1 (e.g., with a magnet sensor 156 not detecting a magnet indicating 0 and a sensor detecting the presence of a magnet indicating 1). The resulting number can express an identity of the end effector 114 to the robot.
Further, one or more magnets can be used to determine a status of a component of the end effector 114. For example, the illustrated end effector 114 includes a lever for locking a position of a tool inserted into the end effector 114. When the lock is engaged, a magnet in the end effector 114 can be moved close enough to the magnet sensor 156 to be detected, but the magnet is too far away when the lock is disengaged. In such a manner, the lock/unlock status of the end effector 114 can be determined.
The information conveyed by the magnets and sensed by the magnet sensors 156 can permit different capabilities of the robot can be activated or deactivated depending on the output of the magnet sensors. The use of magnets can be advantageous by not requiring an electrical connection through the sterile barrier (which can increase complexity of the system) and by not requiring active electronics in the end effector 114, which may be damaged during a sterilization process.
In some instances, power may be passed through the plate 116 (e.g., the connection region 122), for example in order to power devices such as LEDs and the like.
It should be understood that this disclosure is, in many respects, only illustrative. Changes may be made in details, particularly in matters of shape, size, and arrangement of steps without exceeding the scope of the disclosure. This may include, to the extent that it is appropriate, the use of any of the features of one example embodiment being used in other embodiments. The invention's scope is, of course, defined in the language in which the appended claims are expressed.
For the following defined terms, these definitions shall be applied, unless a different definition is given in the claims or elsewhere in this specification.
All numeric values are herein assumed to be modified by the term “about”, whether or not explicitly indicated. The term “about” generally refers to a range of numbers that one of skill in the art would consider equivalent to the recited value (e.g., having the same function or result). In many instances, the terms “about” may include numbers that are rounded to the nearest significant figure.
The recitation of numerical ranges by endpoints includes all numbers within that range (e.g. 1 to 5 includes 1, 1.5, 2, 2.75, 3, 3.80, 4, and 5).
As used in this specification and the appended claims, the singular forms “a”, “an”, and “the” include plural referents unless the content clearly dictates otherwise. As used in this specification and the appended claims, the term “or” is generally employed in its sense including “and/or” unless the content clearly dictates otherwise.
It is noted that references in the specification to “an embodiment”, “some embodiments”, “other embodiments”, etc., indicate that the embodiment described may include one or more particular features, structures, and/or characteristics. However, such recitations do not necessarily mean that all embodiments include the particular features, structures, and/or characteristics. Additionally, when particular features, structures, and/or characteristics are described in connection with one embodiment, it should be understood that such features, structures, and/or characteristics may also be used connection with other embodiments whether or not explicitly described unless clearly stated to the contrary.
The detailed description should be read with reference to the drawings in which similar elements in different drawings are numbered the same. The drawings, which are not necessarily to scale, depict illustrative embodiments and are not intended to limit the scope of the invention.
