Bone clamp

Abstract

The present invention relates to bone clamps. In particular, a surgical device is provided, and more particularly, the present invention relates to a surgical clamp that is attached to a patient's bone to assist in a surgical procedure. The surgical clamp is configured so that a clamping element exhibits movement in a plane different from the plane of an actuator for opening and closing the clamping element. Thus, the surgical clamp provides a surgeon with a larger working space when performing surgical work on the spine.

Description

Technical Field

[0001] The present invention relates to a surgical device, and more particularly to a surgical clamp that is attached to a patient's bone to assist in a surgical procedure. The surgical clamp is configured so that a clamping element exhibits movement in a plane different from the plane of an actuator for opening and closing the clamping element. Thus, the surgical clamp provides a surgeon with a greater working space when performing surgical work on the spine. Background Art

[0002] Surgical procedures performed on a patient's bones, such as the spine, often require the use of specific surgical devices, such as clamps, to secure or hold reference elements or auxiliary devices to the bone to be intervened.

[0003] In some specific applications, the clamp is attached to a predetermined vertebra and includes a reference element intended to be located within the observable space of the plurality of cameras. The computer system receives the images captured by the plurality of cameras and is adapted to determine the correct position and orientation of the vertebra based on the observed position of the reference element.

[0004] In some other specific applications, the clamps are connected or coupled to a tracking system such that the clamps serve as anchor references for the tracking system during surgery.

[0005] Conventionally, in any given setting, a bone clamp has a clamp opening and closing mechanism for attaching the clamp to the bone to be intervened.

[0006] The clamping device has two jaws, wherein at least one jaw is movable relative to the other jaw. A first jaw is attached to one side of the spine and the other jaw is attached to the opposite side of the spine, wherein the movement of the two jaws during the clamping process occurs primarily according to a plane perpendicular to the spine.

[0007] The opening and closing mechanism is based on some extensions of each jaw that are actuated by the user and therefore also show movement in the same plane perpendicular to the spine.

[0008] Even if the shape of the clamp is very compact, the shape of the clamp requires that some of its components, in particular the extension of the opening mechanism, intrude some space on either side of the spine in both the open and closed positions of the clamp.

[0009] The surgeon's primary movement of the spine is on one side of the spine, and therefore the opening and closing mechanism reduces the space available for surgery.

[0010] Therefore, there is a need in the art for improved devices that exhibit stable fixation to a patient's anatomy during surgery while facilitating the positioning of these devices and fixation thereof without interfering with the surgical procedure on the patient's spine. Summary of the invention

[0011] The present invention provides a solution for the aforementioned problems by means of the claimed bone clamp.In the present invention, preferred embodiments of the invention are also defined.

[0012] In a first inventive aspect, the present invention provides a bone clamp comprising:

[0013] - a body comprising a first jaw at one end;

[0014] a second jaw rotatably connected to the body and opposite the first jaw, the second jaw comprising at least an open jaw position and a closed jaw position, such that both the first jaw and the second jaw define a gripping portion; and

[0015] an actuator configured for opening and closing the second jaw, the actuator being rotationally connected to the body and comprising at least an open actuator position and a closed actuator position,

[0016] in,

[0017] The actuator and the second jaw are coupled by a kinematic chain such that a movement of the actuator from one actuator position to another actuator position correspondingly causes the second jaw to move from one jaw position to another jaw position, and

[0018] The rotational movement of the actuator is contained in a first plane and the rotational movement of the second jaw is contained in a second plane, wherein the orientation of the first plane and the orientation of the second plane are different.

[0019] The present bone clamp is a surgical clamp intended to be attached to a patient's bone, such as a spine, during surgery. In particular, the clamp is fixed to the patient's bone in a region close to where surgical intervention is to be performed. Once attached to the bone, the clamp can be used as a reference component for the bone to be intervened, so that the bone clamp can be connected to a reference element or mechanical tracker in a surgical system for surgical intervention.

[0020] The reference component must be interpreted as a component that, once the component has been fixed to the bone, the bone and the reference component have motions as they are a single entity and therefore, the motions of the reference piece can be interpreted as motions of the bone primarily when the bone is not visually accessible.

[0021] The bone clamp comprises a main body which is preferably shaped as an elongated rod extending outside the patient's bone when the clamp is secured to said bone.The main body is to be understood as a rigid body.

[0022] The bone clamp also includes two jaws, a first jaw and a second jaw, which allow the clamp to be fixed to the patient's bone. In particular, the first jaw is included on the main body and is located in one of the ends of the main body. The second jaw is a component independent of the main body, but the second jaw is connected to the main body. Specifically, the second jaw is rotatably connected to the main body near the end of the main body where the first jaw is placed, so that the second jaw is opposite to the first jaw. The second jaw defines at least two jaw positions, an open jaw position and a closed jaw position. In fact, the two jaws are opposite between them and the second jaw includes the two jaw positions mentioned, and both the first jaw and the second jaw define a gripping portion in the bone clamp. That is, the fixation of the clamp to the bone is arranged at the gripping portion and is formed due to the two jaws.

[0023] The bone clamp also includes an actuator for opening and closing the second jaw relative to the first jaw, that is, the actuator controls the gripper of the clamp by opening and closing the second jaw relative to the first jaw. The gripper will be understood as the attachment or adhesion of the clamp jaw, for example, relative to the bone surface of the patient. The actuator is also rotatably connected to the body and the second jaw. That is, the actuator actuates the open jaw position and the closed jaw position of the second jaw and at least includes an open actuator position and a closed actuator position.

[0024] The actuation of the actuator is associated with the rotational movement of the second jaw relative to the body, so that the grip of the pliers can be adjusted. In particular, the coupling between the actuator and the second jaw is provided by a kinematic chain. In this sense, the rotation of the actuator from one actuator position to another actuator position correspondingly causes the second jaw to be rotated from one jaw position to another jaw position. In addition, the rotational movement of the actuator relative to the body is contained in a first plane, which has an orientation different from the orientation of a second plane containing the rotational movement of the second jaw relative to the body.

[0025] Advantageously, the present invention provides an improved clamp having a configuration that ensures fixation to the patient's bone during surgical intervention and is an easily actuable clamp. In addition, the present bone clamp facilitates manipulation of the patient's bone to be intervened, because clamp actuation is performed from a plane that does not intervene in the surgical intervention area.

[0026] In operation, the plane comprising the gripping portions of the first and second jaws is perpendicular to the spine, as the two jaws are intended to grip the spinous processes. Thus, the rotational movement of the actuator is different from the plane defined by the movement of the two jaws, and the actuator therefore does not intrude into the surgeon's working space.

[0027] According to an embodiment, the second plane P2 and the first plane P1 have an angle in the range of [60°, 120°], more preferably in the range of [70°, 110°], more preferably in the range of [80°, 110°].

[0028] In certain embodiments, the second plane is perpendicular to the first plane.

[0029] That is, the rotational movement performed by the actuator relative to the body is perpendicular to the rotational movement of the second jaw also relative to the body. This perpendicular configuration between the planes advantageously ensures that actuation of the bone clamp does not interfere with the surgical intervention area of ​​the bone where the clamp is fixed according to optimal conditions.

[0030] In a particular embodiment, the kinematic chain is partially housed in the body, the actuator pivots in a first joint of the body, and the second jaw pivots by means of rotation of the actuator in a second joint of the body, the second joint being separate from the first joint.

[0031] According to a preferred embodiment, the body is a hollow body for allowing to accommodate part of a kinematic chain coupling the actuator to the second jaw. The actuator pivots in a first joint of the body and the second jaw pivots in a second joint of the body, which is separate from the first joint. Both the first joint and the second joint form part of a kinematic chain. In this sense, the rotation of the actuator in the first joint of the body causes the rotation of the second jaw in the second joint of the body. That is, the rotation of the second jaw is a result of the rotation of the actuator, while the first jaw remains fixed because the first jaw is part of a rigid body.

[0032] In a specific embodiment, the kinematic chain includes:

[0033] - a slide; and

[0034] - a first crank and a second crank,

[0035] The kinematic chain is adapted to convert the rotational motion of the actuator into a linear displacement of the slide by means of a first rod crank rotatably connecting the actuator and the slide, and then to convert the linear displacement of the slide into the rotational motion of the second jaw by means of a second rod crank rotatably connecting the slide and the second jaw.

[0036] In order to cause the rotational movement of the second jaw by the rotational movement of the actuator, the kinematic chain converts the rotational movement of the actuator into the rotational movement of the second jaw by means of a slide and two rod cranks. In particular, the kinematic chain includes a first rod crank, which connects the actuator and the slide in a rotatable manner so that the first rod crank converts the rotational movement of the actuator into a linear displacement of the slide. In addition, the kinematic chain includes a second rod crank, which connects the slide and the second jaw in a rotatable manner so that the second rod crank converts the linear displacement of the slide caused by the first rod crank into the rotational movement of the second jaw. The actuation of the second rod crank is after the actuation of the first rod crank, and the slide is forced to obtain linear movement because the slide is guided inside the body. Advantageously, the kinematic chain facilitates the transmission of movement between the actuator and the second jaw in the bone clamp by means of the conversion of movement.

[0037] In a more particular embodiment, when the bone clamp is in the operational mode, the first rod crank motion is in a first plane, and in the operational mode, the second rod crank motion is in a second plane.

[0038] According to this particular embodiment, the slide is the element that allows combining two different orientations according to two different planes of movement, since the linear displacement is independent of any orientation.

[0039] More particularly, the actuator is connected to the first lever crank by means of an extension arm extending the actuator to opposite sides of a first joint about which the actuator rotates, such that opening of the actuator causes the second jaw to open.

[0040] The extension arm is part of a kinematic chain and is an extension of the actuator from the first joint of the body, where the actuator pivots, to the opposite side of the first joint, which is connected to the first rod crank. This configuration converts the opening of the actuator into the opening of the second jaw relative to the body.

[0041] In another particular embodiment, the actuator is directly connected to the first crank, such that opening of the actuator causes the second jaw to close.

[0042] This configuration converts the opening of the actuator into the closing of the second jaw relative to the body.

[0043] In certain embodiments, the bone clamp further includes an actuator motion adjustment mechanism including a locked position in which the actuator is fixed and a free position in which the actuator can rotate.

[0044] The mechanism regulates the rotational movement of the actuator, making it possible to fix the actuator and allow the rotation of the actuator. The mechanism is in a locked position when the actuator is fixed and cannot rotate, and in a free position when the actuator can then rotate. Advantageously, the actuator movement regulation mechanism allows the gripper of the clamp to be controlled by means of the rotation of the second jaw.

[0045] In a more specific embodiment, the actuator motion adjustment mechanism is a ratchet mechanism and includes at least:

[0046] - an arcuate rack protruding from the body and comprising a plurality of teeth, and

[0047] - a pawl which is rotationally connected to the actuator and comprises at least teeth matching those of the arcuate rack,

[0048] in

[0049] In the free position of the mechanism, the pawl is configured to rotate relative to the actuator and slide over the arcuate rack, thereby allowing the actuator to rotate relative to the arcuate rack, and

[0050] In the locked position, pawl movement remains blocked so that the actuator remains stationary.

[0051] The mechanism is understood to be a ratchet mechanism and comprises an arcuate rack and a pawl. According to an embodiment, the arcuate rack is a circular rack protruding from the body and parallel to a first plane containing the rotational movement of the actuator. The arcuate rack comprises a toothed surface with a plurality of teeth in its upper part. The pawl is rotationally connected to the actuator and comprises at least a tooth adapted to cooperate with and lock into the toothed surface of the arcuate rack.

[0052] When the mechanism is in the free position, the pawl rotates relative to the actuator and slides over the arc-shaped rack, so that the actuator rotates relative to the arc-shaped rack along the tooth surface of the rack. On the other hand, when the mechanism is in the locked position, the movement of the pawl is blocked and the actuator remains fixed.

[0053] In a more specific embodiment, the ratchet mechanism further comprises a spring element attached to the actuator and arranged to apply a force to the pawl to ensure that the teeth of the pawl are in contact with the teeth of the arcuate rack.

[0054] The pawl is configured to maintain the locked position once the pawl engages in the tooth surface; nevertheless, according to this embodiment, the spring element ensures the force for ensuring contact and thus this configuration reduces the uncertainty associated with the safety level of the locking mechanism.

[0055] In another particular embodiment, the ratchet mechanism further includes a safety handle protruding from the actuator and configured to lock the movement of the pawl in a locked position of the mechanism.

[0056] The handle ensures that the movement of the pawl is blocked in the locked position of the mechanism.

[0057] In certain embodiments, the clamp further includes a kinematic link connected to the body at an end opposite the first jaw, the kinematic link configured to couple to a tracking device such that the bone clamp provides an anchor reference.

[0058] This kinematic link in the end of the body attaches the bone clamp to an external element (such as a reference element or a mechanical tracker) and allows the bone clamp to become an anchor reference for a tracking device because the kinematic link ensures that the movement of the kinematic link is the movement of the bone, as if the two bodies were the same body.

[0059] In a more specific embodiment, the motion coupling comprises:

[0060] - a concave portion comprising a ferromagnetic element, and

[0061] - a convex part comprising at least a magnet,

[0062] The ferromagnetic element and at least the magnet provide a binding force between the concave portion and the convex portion.

[0063] As already mentioned, the kinematic coupling is suitable for connecting the present bone clamp to a reference element or a mechanical tracker. In either case, the concave and convex parts included in the kinematic coupling are composed of the same elements. In particular, the kinematic coupling provides a binding force between the concave and convex parts, respectively, due to the ferromagnetic elements of the concave part and the magnets of the convex part.

[0064] In a more specific embodiment, the concave part also includes three grooves forming at least six planes, and the convex part also includes three spheres or hemispheres and a group of magnets. These spheres of the convex part are configured to match the grooves of the concave part, thereby providing a unique matching position and orientation. Each sphere of the convex part contacts the two planes formed by the grooves of the concave part, so that the motion coupling provides six contact forces. This contact force advantageously ensures that there is no loose unique connection between the concave part and the convex part, and the ferromagnetic element of the concave part and the magnet of the convex part ensure the bonding force between the two parts in the motion coupling.

[0065] Additionally, the overall profile of the female portion includes a ledge adapted to simplify manual coupling operations in the kinematic coupling, and the overall profile of the male portion includes an opening configured to fit into the ledge to further ensure proper coupling between the two portions of the kinematic coupling.

[0066] In a particular embodiment, the first jaw and the second jaw include a plurality of spikes, such that in the closed jaw position, the spikes of both the first jaw and the second jaw face each other.

[0067] Providing spikes in both jaws improves grip and ensures fixation of the clamp to the patient's bone as the spikes are driven into the bone to improve fixation. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] These and other characteristics and advantages of the present invention will appear more clearly from the following detailed description of preferred embodiments thereof, given by way of illustrative and non-limiting example only, with reference to the accompanying drawings.

[0069] Figure 1 : This figure shows a stereoscopic view of a bone clamp in a first position according to an embodiment of the present invention.

[0070] Figure 2 : This figure shows a stereoscopic view of the bone clamp in a second position according to an embodiment of the present invention.

[0071] Figure 3 : This figure shows a stereoscopic view of the bone clamp in the third position according to an embodiment of the present invention.

[0072] Figure 4 : This figure shows a perspective view of a movable portion of a bone clamp according to an embodiment of the present invention in a first position.

[0073] Figure 5 :This figure shows an embodiment of the present invention Figure 4 The movable part is in the second position. DETAILED DESCRIPTION

[0074] Figures 1 to 3 Embodiments of the present bone clamp are shown in different positions. The bone clamp comprises a body 1 as an elongated structure, which is hollow inside at least a portion of the body. The body 1 comprises a first jaw 1.1 at one of its ends, on the surface of which a plurality of spikes 11 are arranged.

[0075] The bone clamp also includes a second jaw 2, which is rotationally connected to the body 1 at a joint to be identified as a second joint 1.3 and opposite to the first jaw 1.1. The second jaw 2 also includes a plurality of spikes 11 on the surface of the second jaw 2, so that the spikes 11 of the second jaw 2 face the spikes 11 of the first jaw 1.1.

[0076] The second jaw 2 comprises at least an open jaw position and a closed jaw position, wherein both the first jaw 1.1 and the second jaw 2 define a gripping portion 10. The open jaw position defines a larger aperture in the gripping portion 10 than the closed jaw position. When the second jaw 2 is in its closed jaw position, both the first jaw 1.1 and the second jaw 2 are intended to grip a bone of a patient.

[0077] In addition, the bone clamp comprises an actuator 3, which is configured to open and close the gripping portion 10 by moving the second jaw 2, i.e. by rotating the second jaw 2 at a second joint 1.3 relative to the body 1. The actuator 3 is rotationally connected to the body 1 at a first joint 1.2, which is separated from the second joint 1.3 along the body 1. In addition, the actuator 3 comprises at least an open actuator position and a closed actuator position.

[0078] The actuator 3 and the second jaw 2 are coupled via a kinematic chain 4 partially housed in the body 1. This kinematic chain 4 enables the actuator 3 to be moved from one actuator position to another actuator position to correspondingly cause the second jaw 2 to be moved from one jaw position to another jaw position.

[0079] Specifically, Figure 1 The bone clamp is shown in which the second jaw 2 is in the open jaw position actuated by the actuator 3 which is in its open actuator position. Figure 3 A bone clamp is shown wherein the second jaw 2 is in a closed jaw position actuated by the actuator 3 which is in its closed actuator position. In particular, Figure 2 The bone clamp is shown in Figure 1 The location and Figure 3 Location and Figure 3 The location and Figure 1 The transition position between the positions.

[0080] The kinematic chain 4 is therefore responsible for converting the rotational movement of the actuator 3 into a rotational movement of the second jaw 2 to open or close the second jaw 2 relative to the first jaw 1.1. In particular, the rotational movement of the actuator 3 is contained in a first plane P1 that is different from a second plane P2 containing the rotational movement of the second jaw 2, i.e. the orientations of these first planes P1 and second planes P2 are different between the first plane and the second plane. Figures 1 to 3 In the particular example shown above, these first planes P1 and second planes P2 are orthogonal between the first plane and the second plane. As a result of this orthogonality, since the first joint 1.2 and the second joint 1.3 are in the form of shafts allowing the rotation of the actuator 3 and the second jaw 2 respectively, the axes of the shafts are also orthogonal. The first plane P1 and the second plane P2 together with the double arrow indicating the movement using a dotted line are only Figure 1Schematically illustrated in order to avoid too many lines close to other related elements for clarity.

[0081] According to this embodiment, the actuator 3 is pivoted inside the body 1 at a first joint 1.2 and is partially accommodated inside the body 1, so that the actuator 3 passes through the body 1 through a first opening 1.4. On the other hand, the second jaw 2 is pivoted inside the body 1 at a second joint 1.3 and is partially accommodated inside the body 1 through a second opening 1.5 in the body 1. This second opening 1.5 is arranged in a side of the body 1 perpendicular to the side where the first opening 1.4 is located.

[0082] The body 1 further comprises a third opening (not shown in the figure) arranged in a side of the body 1 opposite to the side where the first opening 1.4 is located and perpendicular to the side where the second opening 1.5 is located. The third opening allows a part of the kinematic chain 4 to protrude toward the outside of the body 1 when necessary.

[0083] The kinematic chain 4 transforms the rotational movement performed by the actuator 3 in the first plane P1 into the rotational movement performed by the second jaw 2 in the second plane P2. Both the rotational movements of the actuator 3 and the second jaw 2 are performed in different articulation points relative to the body 1 .

[0084] Figures 1 to 3 The present bone clamp shown in also includes a mechanism for adjusting the movement of the actuator 3. The actuator movement adjustment mechanism defines a locking position that fixes the actuator 3 in one position and a free position that allows the actuator 3 to rotate relative to the body 1 at the first joint point 1.2.

[0085] In particular, the mechanism is a ratchet mechanism which comprises, on the one hand, an arcuate rack 5 and a pawl 6. The arcuate rack 5 is a circular rack protruding from the body 1 and forming part of the body 1. The arcuate rack 5 comprises a plurality of teeth along the upper surface of the rack 5. According to this embodiment, the actuator 3 is perforated to define a hole through which the arcuate rack 5 passes. The pawl 6 is rotationally connected to the actuator 3 and comprises at least teeth matching these teeth 5.1 of the arcuate rack 5.

[0086] When the ratchet mechanism is in its free position, the pawl 6 can be rotated relative to the actuator 3 to slide over the circular portion of the arc-shaped rack 5, thereby allowing the actuator 3 to rotate. In particular, the ratchet mechanism also includes a spring element 7, which is attached to the actuator 3 and is suitable for applying a force to the pawl 6 to ensure the contact of the teeth of the pawl 6 with the teeth 5.1 of the arc-shaped rack 5. In the example, the spring element 7 is a flat metal piece capable of elastic deformation, which is preferably formed by using a thin plate attached to the actuator 3 by screws. The spring element 7 is flexible.

[0087] On the other hand, when the ratchet mechanism is in its locking position, the movement of the pawl 6 remains blocked by means of a safety handle 8 protruding from the actuator 3, so that the actuator 3 remains fixed at the actuator position.

[0088] In this sense, Figures 1 to 3 Different positions of the actuator 3 relative to the circular rack 5 are shown. Figure 1 and Figure 3 In the embodiment, the ratchet mechanism is in a locking position to keep the actuator 3 fixed in the open position and the closed position, respectively, while in Figure 2 In the embodiment, the ratchet mechanism is in a free position allowing the actuator 3 to rotate. Figure 1 and Figure 3 A safety handle 8 is shown for holding the pawl 6, which is used to ensure the fixation of the actuator 3 and prevent the teeth of the pawl 6 from sliding along the teeth 5.1 of the arc-shaped rack 5. However, Figure 2 It is shown how the safety handle 8 does not retain the pawl 6 and allows the movement of the actuator 3 along the circular rack 5 .

[0089] According to this embodiment, the pawl 6 shows a recess suitable for receiving the safety handle in the locked position.

[0090] Figures 1 to 3 The bone clamp shown in also includes a kinematic coupling 9 connected in the end of the body 1 opposite to the end where the first jaw 1.1 is located. The kinematic coupling 9 is configured to be connected to a tracking device so that the bone clamp provides an anchoring reference. Specifically, the kinematic coupling 9 includes a concave portion 9.1 and a convex portion (not shown). The concave portion 9.1 includes a ferromagnetic element attached to a magnet located on the convex portion. In this way, both the ferromagnetic element of the concave portion 9.1 and the magnet of the convex portion provide a binding force between the concave portion and the convex portion.

[0091] According to another embodiment, a ferromagnetic element is in the male part and a magnet is in the female part 9.1 to ensure a bonding force between said female and male parts.

[0092] exist Figures 1 to 3In the example shown in , the concave part 9.1 of the moving coupling 9 has three machined grooves 9.2, and the grooves 9.2 form at least six inclined surfaces, which are suitable for receiving three spheres or hemispheres, included in the convex part (not shown). The convex part has a group of magnets distributed along it, which are used to contact the ferromagnetic elements of the concave part 9.1. In particular, these spheres of the convex part match the grooves 9.2 of the concave part 9.1 in a unique position and orientation. Therefore, each sphere contacts the two inclined planes of the concave part 9.1 to provide three positions through six contact points, thereby ensuring a unique connection in the moving coupling 9. The ferromagnetic elements of the concave part 9.1 and the magnets of the convex part ensure the bonding force between the two positions of the moving coupling 9.

[0093] Figures 1 to 3 The kinematic chain 4 of the skeleton clamp shown in FIG. Figure 4 and Figure 5 These are shown in detail in Figure 4 and Figure 5 The actuator 3, the kinematic chain 4 and the universal joint between the second jaw 2 are shown without the body 1 which would hide some internal components, in order to observe in detail the configuration of the kinematic chain 4. The kinematic chain 4 shown in these figures comprises a slide 4.1 and two rod cranks 4.2, 4.3.

[0094] In these Figure 4 and Figure 5 In the embodiment, the actuator 3 is connected to the first rod crank 4.2 by means of an extension arm 3.1, which extends the actuator 3 at the opposite side of the first joint 1.2 around which the actuator 3 rotates, so that the opening of the actuator 3 causes the second clamping jaw 2 to open. The first rod crank 4.2 rotatably connects the actuator 3 and the slide 4.1. In another example, the actuator 3 can be directly connected to the first rod crank 4.2 instead of being connected to the first rod crank 4.2 using the extension arm 3.1, so that the opening of the actuator 3 causes the second clamping jaw 2 to close.

[0095] The second clamping jaw 2 is connected to a second rod crank 4 . 3 which is rotatably connected to the slide 4 . 1 and to the second clamping jaw 2 .

[0096] In operating mode, the movement of the first rod crank 4.2 of the kinematic chain 4 is in a first plane P1 containing the rotational movement of the actuator 3. Furthermore, in operating mode, the movement of the second rod crank 4.3 is in a second plane P2 containing the rotational movement of the second jaw 2.

[0097] In order of performance, the rotary motion of the actuator 3 in the first joint 1.2 is converted into a linear displacement of the slide 4.1 by means of the first rod crank 4.2, and subsequently, the linear displacement of the slide 4.1 is converted into a rotary motion of the second jaw 2 in the second joint 1.3 by means of the second rod crank 4.3. Thus, the kinematic chain 4 provides actuation of the second jaw 2 by actuation of the actuator 3.

[0098] The slide 4 . 1 is accommodated in the body 1 , wherein the housing is shaped as a linear guide for the linear movement of the slide 4 . 1 .

[0099] Figure 4 Specifically, when the bone clamp is in Figure 1 The positions shown in are the positions of the components of the kinematic chain 4. In contrast, Figure 5 shows that when the bone clamp is in Figure 3 The positions shown in are the positions of the components of the kinematic chain 4 .

Claims

1. A bone clamp comprising: - a body (1) comprising a first jaw (1.1) at one end; - a second jaw (2) rotatably connected to the body (1) and opposite the first jaw (1.1), the second jaw (2) comprising at least an open jaw position and a closed jaw position, so that the first jaw (1.1) and the second jaw (2) both define a gripping portion (10); as well as an actuator (3) configured for opening and closing the second jaw (2), the actuator (3) being rotationally connected to the body (1) and comprising at least an open actuator position and a closed actuator position, in, The actuator (3) and the second clamping jaw (2) are connected by a kinematic chain (4) so ​​that the movement of the actuator (3) from one actuator position to another actuator position correspondingly causes the second clamping jaw (2) to move from one clamping jaw position to another clamping jaw position, and The rotational movement of the actuator (3) is contained in a first plane P1 and the rotational movement of the second jaw (2) is contained in a second plane P2, wherein the orientation of the first plane P1 and the orientation of the second plane P2 are different.

2. The bone clamp according to claim 1, wherein: The second plane P2 and the first plane P1 have an angle within the range of [60°, 120°].

3. The bone clamp according to claim 2, wherein: The second plane P2 is perpendicular to the first plane P1.

4. The bone clamp according to any one of claims 1 to 3, wherein: The kinematic chain (4) is partially housed in the body (1), the actuator (3) pivots in a first joint (1.2) of the body (1), and the second jaw (2) pivots in a second joint (1.3) of the body (1) by means of the rotation of the actuator (3), the second joint (1.3) being separate from the first joint (1.2).

5. The bone clamp according to claim 4, wherein: The kinematic chain (4) comprises: - a slide (4.1); and - a first crank (4.2) and a second crank (4.3), The kinematic chain (4) is adapted to convert the rotational movement of the actuator (3) into a linear displacement of the slide (4.1) by means of the first rod crank (4.2) rotatably connecting the actuator (3) and the slide (4.1), and then to convert the linear displacement of the slide (4.1) into the rotational movement of the second clamp (2) by means of the second rod crank (4.3) rotatably connecting the slide (4.1) and the second clamp (2).

6. The bone clamp according to claim 5, wherein: In operating mode, the movement of the first rod crank (4.2) is in the first plane P1, and in operating mode, the movement of the second rod crank (4.3) is in the second plane P2.

7. The bone clamp according to any one of claims 5 to 6, wherein: The actuator (3) is connected to the first lever crank (4.2) by means of an extension arm (3.1) extending the actuator (3) to the opposite side of the first joint (1.2) about which the actuator (3) rotates, so that opening of the actuator (3) causes the second jaw (2) to open.

8. The bone clamp according to any one of claims 5 to 6, wherein: The actuator (3) is directly connected to the first rod crank (4.2) so that opening of the actuator (3) causes the second jaw (2) to close.

9. The bone clamp according to any one of claims 1 to 3, further comprising an actuator movement adjustment mechanism, the actuator movement adjustment mechanism comprising a locking position when the actuator (3) is fixed and a free position when the actuator (3) is able to rotate.

10. The bone clamp according to claim 9, wherein: The actuator motion adjustment mechanism is a ratchet mechanism and comprises at least: - an arcuate toothed rack (5) protruding from the body (1) and comprising a plurality of teeth (5.1); and - a pawl (6) rotatably connected to the actuator (3) and comprising at least one tooth matching those (5.1) of the arcuate rack (5), in, In the free position of the mechanism, the pawl (6) is configured to rotate relative to the actuator (3) and slide through the arc-shaped rack (5), thereby allowing the actuator (3) to rotate relative to the arc-shaped rack (5), and In the locked position, the movement of the pawl (6) remains blocked so that the actuator (3) remains fixed.

11. The bone clamp according to claim 10, wherein: The ratchet mechanism further comprises a spring element (7) attached to the actuator (3) and arranged to apply a force to the pawl (6) so as to ensure contact of the teeth of the pawl (6) with the teeth (5.1) of the arcuate rack (5).

12. The bone clamp according to claim 10, wherein: The ratchet mechanism further comprises a safety handle (8) which projects from the actuator (3) and is configured to lock the movement of the pawl (6) in the locked position of the mechanism.

13. The bone clamp according to any one of claims 1 to 3 further comprises a kinematic coupling (9) connected to the body (1) in the end opposite to the first jaw (1.1), the kinematic coupling (9) being configured to be coupled to a tracking device so that the bone clamp provides an anchoring reference.

14. The bone clamp according to claim 13, wherein: The motion coupling member (9) comprises: - a concave portion (9.1) comprising a ferromagnetic element; and - a male part comprising at least one magnet, The ferromagnetic element and the at least one magnet provide a binding force between the concave portion (9.1) and the convex portion.

15. The bone clamp according to any one of claims 1 to 3, wherein: The first clamping jaw (1.1) and the second clamping jaw (2) comprise a plurality of spikes (11), such that in the closed jaw position, the spikes (11) of both the first clamping jaw (1.1) and the second clamping jaw (2) face each other.

16. The bone clamp according to claim 1, wherein: The second plane P2 and the first plane P1 have an angle within the range of [70°, 110°].

17. The bone clamp according to claim 1, wherein: The second plane P2 and the first plane P1 have an angle within the range of [80°, 110°].

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