Patent Grant
12016641
This disclosure relates generally to surgical instruments, systems, and methods, and more particularly to devices, systems, and methods for coupling or integrating single-use reflective markers with a reusable chassis or instrument for subsequent use in navigating a surgical robot or instrument during a surgical procedure. Flexible navigational arrays comprising single-use reflective markers and bodies that can be stretched and deformed in order to be attached to a variety of different reusable rigid frames or instruments are disclosed herein.
Many different surgical procedures utilize some form of surgical navigation or tracking to aid in positioning surgical instruments relative to portions of patient anatomy during a procedure. One such type of procedure is robotic or robot-assisted surgical procedures, where surgical navigation can be important to correctly position a robotically controlled or assisted surgical instrument relative to a patient.
There are a number of known surgical navigation or tracking technologies, including commonly employed optical navigation or tracking systems that utilize, e.g., stereoscopic sensors to detect infra-red (IR) light reflected or emitted from one or more optical markers affixed to surgical instruments and/or portions of a patient's anatomy. By way of further example, a tracker having a unique constellation or geometric arrangement of reflective elements can be coupled to a surgical instrument and, once detected by stereoscopic sensors, the relative arrangement of the elements in the sensors' field of view, in combination with the known geometric arrangement of the elements, can allow the system to determine a three-dimensional position and orientation of the tracker and, as a result, the instrument or anatomy to which the tracker is coupled.
In known surgical navigation technologies, a navigation array or tracker can be mounted on an instrument that is received and/or controlled by a robotic arm to identify a position of the instrument. In some instances, a navigation array or tracker can be formed integrally with the instrument itself. In other instances, a navigation array can be removably attached to an instrument and can be used to track a position of multiple instruments over the course of a surgical procedure. This approach, however, requires unmounting and remounting of the array with respect to each particular instrument every time a different instrument is used. Both solutions, however, can be inconvenient, as the capability to decouple the array from the instrument or to couple the array to other instruments may be absent or complicated. Further, many types of reflective markers that are used with navigation arrays are fragile and therefore are intended to be single-use devices, and arrangements having the reflective markers integrally-formed in a frame of the array can require the entire navigation array or instrument-array assembly to be single-use, or necessitate the replacement of the entire navigation array or instrument-array assembly if a reflective element is damaged during the operation. This has discouraged the use of robust and reusable navigation arrays that can provide a higher level of accuracy in positioning the reflective markers. Moreover, existing techniques for coupling single-use reflective markers to a navigation array chassis fail to accurately locate the reflective marker relative to the chassis and result in an overall degradation of tracking accuracy.
Accordingly, there is a need for improved systems, methods, and devices for accurately coupling single-use reflective markers with a chassis, which can be a reusable chassis, a single-use chassis, or a chassis integrated with a surgical instrument.
Certain aspects of the present disclosure provide a coupling system for securing and positioning a single-use flexible navigation marker array to a rigid frame or instrument to form a navigation array suitable for use in computer assisted surgery and similar procedures. A flexible marker system for use with a computer-assisted surgical (CAS) tracking system can include a rigid frame or instrument defining a plurality of coupling locations each configured to position a navigation marker in a predetermined position and a flexible array configured to be coupled with the rigid frame or instrument. The flexible array can include an elastically deformable body and a plurality of navigation markers, where the flexible array is configured to be coupled to the rigid frame or instrument by stretching the elastically deformable body over the rigid frame such that each of the plurality of navigation markers is positioned at one of the plurality of coupling locations of the rigid frame or instrument. Each of the plurality of navigation markers can be rigid and each navigation marker can be configured to be located in space using stereoscopic sensors that detect light reflected or emitted from the navigation markers. In some embodiments, each navigation marker includes an optical lens device configured to reflect infra-red light.
The flexible navigation array can be coupled to a surgical instrument in a variety of manners. For example, a modular rigid frame can be rigidly coupled to a surgical instrument and the flexible navigation array can be coupled to the frame. In other embodiments, a frame can be integrally formed with a surgical instrument such that its position is fixed relative to a body of the instrument and the flexible navigation array can be coupled to the integrally-formed frame. In still other embodiments, an outer surface of a surgical instrument can include coupling locations or features formed directly thereon or therein such that a flexible navigation array can be coupled to the outer surface of the instrument without the use of a frame or frame-like component. For example, a surgical instrument can include recesses formed in an outer surface of the instrument and configured to receive a navigation marker of the flexible array. Such a configuration can potentially reduce cost and complexity while increasing accuracy of tracking by directly coupling the flexible array to a surgical instrument and omitting an intervening rigid frame.
The rigid frame or instrument can include a channel section and a portion of the elastically deformable body can be configured to be received in the channel section when the flexible array is coupled with the rigid frame or instrument. In some embodiments, the channel section defines an end surface and the end surface includes one of the plurality of coupling locations such that an elastic restoration force of the elastically deformable body maintains a position of a navigation marker relative to the end surface when the flexible array is coupled with the rigid frame or instrument. In some embodiments, the rigid frame or instrument includes a plurality of channel sections, each channel section having one of the plurality of coupling locations and a portion of the elastically deformable body can be configured to be received in each of the plurality of channel sections when the flexible array is coupled with the rigid frame or instrument.
The rigid frame or instrument can define a central locating feature, with the elastically deformable body of the flexible array defining a corresponding central locating feature and a plurality of appendages extending therefrom and the central locating feature of the rigid frame or instrument being configured to retain the corresponding central locating feature of the flexible array such that each of the appendages is configured to be held in an elastically deformed configuration extending between the central locating feature of the rigid frame or instrument and a one of the plurality of coupling locations.
The rigid frame or instrument can include a surface with a recess formed therein and defining one of the plurality of coupling locations. At least a portion of the elastically deformable body of the flexible array can be configured to be stretched across the surface when the flexible array is coupled with the rigid frame or instrument.
In some embodiments, the rigid frame or instrument includes a plurality of arms, with each of the plurality of arms including a respective one of the plurality of coupling locations and where a portion of the elastically deformable body is configured to be elastically deformed along each of the plurality of arms when the flexible array is coupled with the rigid frame or instrument. In some embodiments, each of the plurality of arms extends from a central location. In some embodiments, the elastically deformable body includes a plurality of arm sections configured to extend along a corresponding one of the plurality of arms when the flexible array is coupled with the rigid frame or instrument. In some embodiments, at least one of the plurality of arms defines a channel section and the elastically deformable body includes an arm section configured to be received in the channel section when the flexible array is coupled with the rigid frame or instrument. At least one of the coupling locations can include a coupling hook feature and the flexible array can include a loop feature adjacent to a navigation marker that is configured to interface with the coupling hook feature to secure the flexible array to the rigid frame or instrument. In some embodiments, at least one of the coupling locations includes a recess and the flexible array includes a protrusion adjacent to a navigation marker that is configured to be received and retained by the recess when the flexible array is coupled with the rigid frame or instrument.
In some embodiments, at least one of the coupling locations includes a pin and the flexible array includes a strap with holes adjacent to a navigation marker that is configured to be received and retained by the pin when the flexible array is coupled with the rigid frame or instrument. At least one of the coupling locations can include a first pin on a first side of the rigid frame or instrument and a second pin on a second side of the rigid frame or instrument opposite the first side, and the flexible array can include first and second strap portions with a navigation marker disposed between the first and second strap portions, with the first and second strap portions each defining one or more holes configured to receive the first and second pins, respectively, when the flexible array is coupled with the rigid frame or instrument. At least one of the coupling locations can define a curved surface, and the flexible array can include a first side having a navigation marker and a second side, opposite the first side, configured to interface with the curved surface of the coupling location when the flexible array is coupled with the rigid frame or instrument.
Another example of the present disclosure is flexible marker for use with a computer-assisted surgical (CAS) tracking system that includes an elastically deformable flexible body and a plurality of rigid navigation markers configured to be detected by a CAS tracking system, with the elastically deformable flexible body being configured to be stretched over a rigid frame or instrument in order to position the plurality of rigid navigation markers at specific positions relative to the rigid frame or instrument. In some embodiments, each of the plurality of rigid navigation markers includes a rigid hemisphere portion. In some embodiments, each of the plurality of rigid navigation markers is configured to reflect infra-red light. In some embodiments, the elastically deformable flexible body has a plurality of appendages, each containing one of the plurality of rigid navigation markers. In some embodiments, the plurality of rigid navigation markers includes at least three markers. In some embodiments, the plurality of rigid navigation markers includes at least four markers. In some embodiments, the plurality of rigid navigation markers includes at least one more marker than is required for operation of a CAS tracking system.
Yet another example is a surgical method that includes positioning a rigid frame or instrument relative to an object to be tracked by a CAS system and elastically deforming a body of a flexible array over the rigid frame or instrument and positioning a plurality of navigation markers of the flexible array at coupling locations of the rigid frame or instrument. In some embodiments, the method includes elastically deforming a first strap of the body and coupling the first strap to a retention feature on a first side of the rigid frame or instrument. In some embodiments, the method includes elastically deforming a second strap of the body and coupling the second strap to a retention feature on a second side of the rigid frame or instrument. In some embodiments, disposing a portion of the body in a channel of the rigid frame or instrument such that a coupling region at an end of the channel secures one of the plurality of navigation markers and retains the body in an elastically deformed position. Each navigation marker can include an optical lens device configured to reflect infra-red light. And elastically deforming a body of the flexible array can include elastically deforming a plurality of appendages of the body, each containing one of the plurality of rigid navigation markers. In some embodiments, the method can further include any of removing or hiding from view at least one of the navigation markers of the flexible array, e.g., by cutting away at least one of the navigation markers or tucking at least one of the navigation markers behind another portion of the flexible array to hide it from view of the CAS tracking system.
Another example of a flexible marker system for use with a CAS tracking system includes a rigid frame or instrument defining a plurality of coupling locations and a flexible array configured to be coupled with the rigid frame or instrument. Each of the plurality of coupling locations can be configured to position a respective navigation marker in a predetermined spatial position with respect to the other coupling locations and the flexible array can have a body defining at least three flexible regions, with each of the at least three flexible regions defining a coupling region carrying a navigation marker. Each coupling region of the flexible array can be configured to interface with one of the plurality of coupling locations of the rigid frame or instrument when the flexible array is coupled with the rigid frame or instrument and each of the least three flexible regions can be configured to be held in an elastically deformed configuration by the rigid frame to locate a respective navigation marker in a respective one of the plurality of coupling locations. Additionally, the flexible array can be configured to be coupled with the rigid frame or instrument when each of the at least three flexible regions are held in the elastically deformed configuration by the rigid frame or instrument such that each of the navigation markers is located in the respective coupling location of the rigid frame or instrument. Each navigation marker can be configured to be located in space using stereoscopic sensors that detect light reflected or emitted from the navigation markers. In some embodiments, each navigation marker includes an optical lens device configured to reflect infra-red light.
The rigid frame or instrument can include a channel section and at least one of the flexible regions can include an arm section sized and shaped to be received in the channel section when the flexible array is coupled with the rigid frame or instrument. In some embodiments, the channel section defines an end surface and the end surface includes one of the plurality of coupling locations, the end surface being configured to abut or contact a surface of the coupling region such that an elastic restoration force of the respective arm section of the flexible region maintains the position of the coupling region in a the predetermined spatial position when the flexible array is coupled with the rigid frame or instrument.
The rigid frame or instrument can include a plurality of channel sections, each channel section having one of the plurality of coupling locations, and each of the least three flexible regions can include an arm section sized and shaped to be received in one of the plurality of channel sections when the flexible array is coupled with the rigid frame or instrument.
The rigid frame or instrument can include a central locating feature, with the body of the flexible array defining a corresponding central locating feature and the central locating feature being configured to retain the corresponding central locating feature of the flexible array such that each of the flexible regions is configured to be held in the elastically deformed configuration by being deformed between the central locating and a respective one of the plurality of coupling locations.
In some embodiments, the rigid frame or instrument includes a surface, the surface having formed therein a recess defining one of the plurality of coupling locations and at least a portion of the flexible array is configured to be stretched across the surface when the flexible array is coupled with the rigid frame or instrument. In some embodiments, the rigid frame or instrument includes a plurality of arms, with each of the plurality of arms including a respective one of the plurality of coupling locations, and each of the least three flexible regions being configured to be elastically deformed along a respective one of the plurality of arms when the flexible array is coupled with the rigid frame or instrument. In some embodiments, each of the plurality of arms extends from a central location. In some embodiments, each of the least three flexible regions includes an arm section sized and shaped to extend along a corresponding one of the plurality of arms when the flexible array is coupled with the rigid frame or instrument. In some embodiments, at least one of the plurality of arms defines channel section and at least one of the flexible regions includes an arm section sized and shaped to be received in the channel section when the flexible array is coupled with the rigid frame or instrument.
In some embodiments, the body of the flexible array defines a relaxed shape when each of the at least three flexible regions is not elastically deformed and each of the at least three flexible regions is configured to elastically deform to change a spatial dimension of the body to enable each of the three navigation markers to be moved to a different one of the predetermined spatial positions of the rigid frame or instrument. The flexible array can be configured to be coupled to the rigid frame or instrument when each of the coupling regions of the flexible array are secured to the coupling locations and when each of the three navigation markers is in a different one of the predetermined spatial positions of the rigid frame or instrument. In some embodiments, each of the coupling locations of the rigid frame or instrument is configured to retain a coupling region of the flexible body to couple the flexible array to the rigid frame or instrument.
In some embodiments, at least one of the coupling locations includes a coupling hook feature, and at least one of the coupling regions of the flexible array includes a loop feature configured to be elastically deformed and attached to the coupling hook feature to secure the flexible array to the rigid frame or instrument. At least one of the coupling locations can includes a recess and at least one of the coupling regions of the flexible array can include a protrusion configured to be received and retained by the recess when the flexible array is coupled with the rigid frame or instrument. In some embodiments, at least one of the coupling locations includes a pin, and at least one of the coupling regions of the flexible array includes a strap with holes configured to be received and retained by the pin when the flexible array is coupled with the rigid frame or instrument.
At least one of the coupling locations can include a first pin on a first side of the rigid frame or instrument and a second pin on a second opposite side of the rigid frame or instrument, where at least one of the coupling regions defines regions includes first and second strap portions with the navigation marker disposed along a length of the coupling region and between the first and second strap portions, and the first and second strap portions each define one or more holes configured to be received and retained by the first and second pins, respectively, when the flexible array is coupled with the rigid frame or instrument.
In some embodiments, at least one of the coupling locations can define a curved surface, and at least one of the coupling regions can define a first side having the navigation marker and a second side, opposite the first side, configured to be received and positioned by the curved surface of the coupling location when the flexible array is coupled with the rigid frame or instrument.
Any of the features or variations described above can be applied to any particular aspect or embodiment of the present disclosure in a number of different combinations. The absence of explicit recitation of any particular combination is due solely to the avoidance of repetition in this summary.
This disclosure will be more fully understood from the following detailed description taken in conjunction with the accompanying drawings, in which:
Certain exemplary embodiments will now be described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the devices, systems, and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. The devices, systems, and methods specifically described herein and illustrated in the accompanying drawings are non-limiting example embodiments and the scope of the present disclosure is defined solely by the claims. The features illustrated or described in connection with one embodiment may be combined with the features of other embodiments. Such modifications and variations are intended to be included within the scope of the present disclosure.
Additionally, to the extent that linear or circular dimensions are used in the description of the disclosed devices, systems, and methods, such dimensions are not intended to limit the types of shapes that can be used in conjunction with such systems and methods. Equivalents to such linear and circular dimensions can be determined for any geometric shape. Further, in the present disclosure, like-numbered components of the embodiments generally have similar features. Still further, sizes and shapes of instruments or systems, and the components thereof, can depend at least on the anatomy of a subject with which the instruments or systems will be used, the size and shape of other components with which the instruments or systems will be used, and the methods and procedures in which the instruments or systems will be used.
Devices, systems, and methods for coupling navigation markers to surgical navigation arrays are disclosed herein, e.g., using a flexible array carrying a navigation marker and a rigid frame or instrument for holding the flexible array and making it conform to a predetermined geometric shape defined by the rigid frame or instrument.
In some embodiments, a flexible navigation array can include a plurality of rigid navigation makers disposed therein and a plurality of coupling regions or elements that are arranged to be secured to a rigid frame or instrument. The body of the flexible navigation array can include a plurality of arms, with each having a navigation marker such that the arms can be stretched and deformed to position the flexible navigation array on a variety of different sizes and shapes of rigid frames or instruments. The flexible navigation array and navigation markers can be made as a single use part to be used with reusable rigid frames or instruments. This configuration can have a number of advantages. For example, navigation makers are often designed to be single use parts due to, for example, their low tolerances for sterilization and their fragile nature (e.g., a surgical tracking system can be sensitive to defects in the reflective character of a navigation marker, which encourages using new markers for each procedure), but surgical navigation arrays need to position the navigation markers with very high spatial tolerances, both with respect to each other and to whatever element the navigation array is attached to, which encourages robust and rigid navigation arrays. Together, these two competing design directions (i.e., fragile navigation markers and robust arrays) can be separately solved by aspects of the present disclosure, which separate the navigation array into two separate components: (1) a rigid frame or instrument that can be reusable, highly tolerant to sterilization, and able to provide accurate locations for navigation markers, and (2) a flexible navigation array, which can be single use and hold a plurality of navigation makers in a body that can be deformed and attached to a variety of rigid frames, while also using the deformable nature of the body to ensure accurate placement of the navigation makers with respect to the rigid frame by accounting for the restoration force of the body holding the flexible array in a stable arrangement when secured to the rigid frame. Additionally, the arms of the rigid body can include one or more exterior features for securing the flexible navigation array to the rigid body. In some examples, the navigation marker can be a reflective marker that includes a lens element and a reflective element visible through the lens element, e.g., a hemispherical or spherical clear lens with a reflective surface or reflective element configured to be visible through the lens element.
In operation, the navigation array with a carrier frame and navigation markers disposed therein can be coupled to a surgical robotic arm or other instrument and can be configured to locate an absolute position of the robotic arm or instrument in three-dimensional space, such as the distal end of the robotic arm where a tool end effector is present. For example, a navigation array can be mounted on a tool end effector (e.g., directly onto a tool carried by a tool holder or on the tool holder) and can be configured to locate a position of the tool end effector based on a position of the array. In this manner, the array can precisely track a spatial parameter, such as distance, depth, or orientation, of a distal end of the tool end effector without any additional sensors or encoders present on the robotic arm. As such, a need to provide electronics in each instrument or instrument mount used throughout a surgical procedure can be eliminated. Accordingly, the navigation arrays of the present disclosure can locate absolute placement of the robotic arm and associated or other instrumentation during the course of a surgical procedure in an effective and efficient manner without disrupting surgical flow or requiring excessive handling of instrumentation.
Further, in some embodiments additional and/or alternative navigation arrays can be employed in addition to, or in place of, the navigation array 200 shown attached to a distal-most arm segment 101 of the robotic arm 1001. For example, in some embodiments a navigation array 202 can be coupled to another component of the robotic device, such as a base of the robotic arm 1001 in embodiments where the robot is mobile. Still further, a navigation array 204 can be coupled to the tool end effector itself. In embodiments where a single tool is provided, the array 204 can be coupled directly thereto. In other embodiments, however, the tool end effector 110 can be a cannula or guide configured to receive one or more surgical instruments. In such embodiments, the navigation array 204 can be coupled to the cannula or guide and positioning of an instrument inserted therethrough can be achieved using a different array or different tracking means.
Returning to the system illustrated in
In some embodiments, however, other types of surgical navigation and tracking can be employed in place of, or in addition to, the above-described reflective optical tracking. For example, in some embodiments optical tracking can be employed using active light emitters rather than reflective elements, such as light emitting diodes (LEDs). In other embodiments, electromagnetic trackers can be employed, while in still other embodiments any of inertial sensors using gyroscopic measurements, ultrasonic sensors, radio-frequency identification (RFID) sensors, or other known sensors can be employed.
Regardless of how it is gathered, position and orientation data can be transferred between components (e.g., to the control unit 300) via any suitable connection, e.g., with wires or wirelessly using a low latency transfer protocol. The real-time control unit 300 can carry out real-time control algorithms at a reasonably high frequency with low additional latency to coordinate movement of the robotic device 100.
Prior navigation arrays like those shown in
The flexible navigation array 330 can be formed from a variety of materials, and in some cases from multiple materials. For example, the flexible arms 331 can be formed from a lower durometer shore hardness polymer such as a silicon, rubber, or other polymer, and the rigid navigation markers 340 can be formed from a higher durometer shore hardness materials, such as glass, polycarbonate, etc. The flexible navigation array 330 can be a single use component in some embodiments, while in other embodiments can be suitable for cleaning and certain types of sterilization, such as gamma radiation.
The rigid frame 310 can be formed from a variety of materials having a higher durometer shore hardness, including metals such as aluminum, titanium, and stainless steel, or a variety of engineered polymers. The rigid navigation array can be a single use component in some embodiments, but in many cases can be suitable for re-use following cleaning and sterilization by chemical wash, steam, etc.
As mentioned above, the flexible navigation array 330 can be coupled with rigid frames of many different shapes and sizes. Additionally, different flexible navigation array sizes and shapes are possible and can be coupled with the rigid frame 300. For example,
A variety of other embodiments are also possible for use of flexible navigation arrays. For example, flexible navigation arrays can include any number of navigation markers. The embodiment of
In some embodiments, a flexible navigation array can include at least one more navigation marker than is necessary for operation of a CAS tracking system, such that an extra or spare navigation array is available for use in a particular situation, e.g., a portion of a procedure where an additional navigation marker is needed to change a digital ID of an array or provide additional motion tracking capability (e.g., tracking in an additional dimension or with additional precision). In such embodiments, any unnecessary navigation markers can be permanently removed or temporarily hidden from view of the CAS tracking system. Permanent removal can include, for example, cutting off a navigation marker and/or arm 1204 using shears or another cutting instrument. In some embodiments, any unnecessary navigation markers can be folded or tucked behind the remainder of the flexible navigation frame such that they are not visible to the CAS tracking system and do not interfere with use of the other navigation markers.
While the embodiments described above with respect to
In still other embodiments, an exterior surface of the surgical instrument can include a plurality of coupling locations or features formed thereon or therein to allow a flexible navigation array to couple directly to the exterior surface of the surgical instrument.
In some instances, the coupling locations 512 and coupling regions 532 together locate the rigid navigation markers 340 to within a tolerance of 0.1 mm or better with respect to each other and to the attachment arm 518. Locating the navigation markers with such precision and accuracy can aid optimum operation of the navigation system, as undesired movement of the navigation markers relative to the rigid frame (and instrument or other component being tracked to which the frame is rigidly attached) can impair the ability of the tracking unit 50 to accurately determine the position and orientation of the navigation array. Moreover, the use of a flexible navigation array coupled to a rigid frame or instrument can provide advantages over traditional rigidly-attached navigation arrays. For example, certain surgical instruments, such as oscillating saws, can product significant vibration during use. The vibration can be significant enough in some cases to case the tracking unit 50 and surgical navigation system to lose track of a navigation array due to the vibration of the navigation array markers. Embodiments according to the present disclosure can in some cases dampen the magnitude of vibration passed from the rigid frame or instrument to the navigation markers via the portions of the flexible arms or body disposed between the navigation markers and the rigid frame or instrument.
Due to the deformable nature of the flexible navigation array 530, the same flexible navigation array 530 can be coupled to a variety of different sizes and shapes of rigid frames or instruments. For example,
These features of the flexible navigation array can allow a variably-configurable system using a single flexible array component. For example, a single flexible navigation array can be produced having a maximum desired number of navigation markers, e.g., at least two to identify an axis in three-dimensional space, at least three to fix a position and orientation in three-dimensional space, and up to twenty or more. For example,
The above-described example embodiments are not the only ways a navigation marker can be coupled to a frame. Further details on other methods for coupling a navigation marker to a frame are disclosed in a U.S. patent application entitled “Systems and Methods for Coupling Navigation Markers to an Array,” filed on a same date as this application, the entire contents of which are incorporated by reference herein. Still further, in some embodiments any of the above-described geometries of a rigid frame can be integrally formed into a surgical instrument to allow a flexible navigation array to be coupled directly to the instrument. For example, a frame having the above-described geometries can be integrally formed with a surgical instrument, as shown in
The devices, systems, and methods disclosed herein can be used in minimally-invasive surgery and/or open surgery. As noted above, any of a variety of surgical procedures can be performed utilizing the surgical navigation trackers described herein, including various orthopedic procedures, such as knee surgery, spine surgery, shoulder surgery, hip surgery, etc. While the devices and methods disclosed herein are generally described in the context of orthopedic surgery on a human patient, it will be appreciated that the methods and devices disclosed herein can be used in any of a variety of surgical procedures with any human or animal subject, or in non-surgical procedures.
It should be noted that any ordering of method steps expressed or implied in the description above or in the accompanying drawings is not to be construed as limiting the disclosed methods to performing the steps in that order. Rather, the various steps of each of the methods disclosed herein can be performed in any of a variety of sequences. In addition, as the described methods are merely example embodiments, various other methods that include additional steps or include fewer steps are also within the scope of the present disclosure.
The instruments, devices, and systems disclosed herein can be constructed from any of a variety of known materials. Exemplary materials include those which are suitable for use in surgical applications, including metals such as stainless steel, titanium, nickel, cobalt-chromium, or alloys and combinations thereof, polymers such as PEEK, ceramics, carbon fiber, silicones, rubbers, and so forth. The various components of the instruments disclosed herein can have varying degrees of rigidity or flexibility, as appropriate for their use. Device sizes can also vary greatly, depending on the intended use and surgical site anatomy. Furthermore, particular components can be formed from a different material than other components. One or more components or portions of the instrument can be formed from a radiopaque material to facilitate visualization under fluoroscopy and other imaging techniques, or from a radiolucent material so as not to interfere with visualization of other structures. Exemplary radiolucent materials include carbon fiber and high-strength polymers.
The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present disclosure.
The devices described herein can be processed before use in a surgical procedure. First, a new or used instrument can be obtained and, if necessary, cleaned. The instrument can then be sterilized. In one sterilization technique, the instrument can be placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and its contents can then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. The radiation can kill bacteria on the instrument and in the container. The sterilized instrument can then be stored in the sterile container. The sealed container can keep the instrument sterile until it is opened in the medical facility. Other forms of sterilization known in the art are also possible. This can include beta or other forms of radiation, ethylene oxide, steam, or a liquid bath (e.g., cold soak). Certain forms of sterilization may be better suited to use with different portions of the device due to the materials utilized, the presence of electrical components, etc.
The embodiments of the present disclosure described above are intended to be examples; numerous variations and modifications are possible and within the scope of this disclosure. Accordingly, the disclosure is not to be limited by what has been particularly shown and described. All publications and references cited herein are expressly incorporated by reference in their entirety.
| Number | Name | Date | Kind |
|---|---|---|---|
| 20110077510 | Moctezuma de la Barrera | Mar 2011 | A1 |
| Number | Date | Country | |
|---|---|---|---|
| 20220387112 A1 | Dec 2022 | US |
