Tool holder with integrated concentric shutter

Abstract

A gripper for gripping a surgical tool is provided. The gripper includes a concentric and adjustable shutter mechanism that allows the gripper to grip tools having a variety of different peripheries and tools not having a perfectly circular periphery. In the context of a centrally coordinated robotic system, particularly a surgical robotic system, the disclosed gripper allows the robotic system to deploy a variety of surgical tools without taking into account their perimeter or precise circumferential dimensions. Due to the concentric shutter design, the robotic system using the inventive gripper is able to deploy various tools while always keeping the tools in the center of the working area.

Description

[0001] Existing related applications

[0002] This application claims the benefit of priority to U.S. Provisional Patent Application No. 63 / 342,363, filed on May 16, 2022. Technical Field

[0003] The present invention relates to a clamp with an integrated concentric shutter mechanism for clamping tools of different diameters. The present invention also relates to a clamp that can be opened and closed in a conventional manner, but is capable of grasping tools of different diameters by including a concentric shutter mechanism that centers the tool in the clamp regardless of the diameter of the tool. Specifically, it is generally desired that the clamp clamps a longitudinal tool (e.g., a screwdriver) around its periphery, but it is desired that the clamp can achieve this for tools of multiple different diameters so that different clamps are not required to specifically match each tool. In addition, not all tools have a perfect circular shape. Therefore, the present invention relates to a clamp with an integrated shutter mechanism so that the clamp can also adapt to different tool diameters without a perfect circular shape. More particularly, in the context of robotic surgery, multiple robotic tools can be deployed on a robotic arm and controlled by a single control unit, and can be used in a centrally coordinated manner to perform a robotic surgical procedure, wherein the relative movement of each robotic element is coordinated by the central control unit. Therefore, the central control unit of the robotic system to which the present invention relates needs to know where the center of the robotic tool is at all times, regardless of its diameter - the flexible, concentric nature of the gripper with integrated opener and closer of the present invention allows this function to be achieved. Although the robotic system can theoretically use many different sized tools, they may be supplied by many different manufacturers and may have different characteristics and dimensions (e.g., circumference), which presents a challenge to the robotic system. Most particularly, in the context of robotic surgery, according to the apparatus and methods provided by the present invention, numerous tools of different sizes manufactured by different manufacturers can be deployed by an end effector with a gripper of the present invention, which has an integrated concentric opener and closer and can be used without changing the end effector. Background Art

[0004] Grippers are useful end effectors that are widely used in various fields to grip and manipulate tools or other objects. Grippers are also well known in the field of robotics, especially in the field of medical robotics. In medical robotics and general robotics, grippers are used to grip and hold various instruments for various applications.

[0005] Shutters of various designs are also known in a variety of fields. Some shutters are used primarily as gates or valves. Inherent in the design of some shutters suitable for use in the present disclosure is their ability to open and close concentrically so that they always have a natural, consistent center, regardless of the diameter of the shutter opening.

[0006] In the field of medical robotics (but not limited to medical robotics), it is highly desirable to be able to grip, clamp (perhaps only partially clamp) a random longitudinal tool from its side while keeping the tool concentric with the gripper and the robotic arm. This means that the gripper needs to clamp random tools with random diameters and / or with non-perfectly circular shapes, but regardless of the diameter of the tool, the center of the clamped tool is always in the same location known to the robot controller. In this regard, the robot can clamp any random tool and regardless of its different diameters, its center is always in the same location known to the robot controller. This is critical to the ability of the robotic system to accurately perform a procedure - if the robot does not know where the center of the robotic tool is, it cannot accurately guide the tool to the location of interest, or in the case of robotic surgery, to the anatomical structure of interest. This use case is best achieved using a gripper that can hold the tool concentrically, and an opener and closer are an excellent mechanism to achieve this goal. Furthermore, while a standard gripper can grip and securely hold a tool, the present invention describes a gripper / shutter mechanism that allows the shutter to be closed around the tool and then opened by the exact desired amount to facilitate the desired margin for a certain amount of movement of the tool within the shutter. The present inventors are not aware of any gripper incorporating a concentric shutter that is usable in medical robotics, robotics in general, or any field for that matter.

[0007] Performing a full range of spinal surgical procedures requires robotically coordinated movement of multiple robotic arms, and optionally, robotically coordinated navigation - a range of capabilities that are not currently available. As it stands, a typical procedure may require manipulation of one or more end effectors deployed by the robotic arms, deployment of other instruments, placement of multiple passive or active markers on bone and / or soft tissue, and one or more robotically controlled and manipulated cameras that can be placed at different distances and angles from the surgical field, as well as one or more end effectors deployed by the robotic arms. This complex dynamic is further complicated by the presence of numerous surgical tools and implants on the market (particularly in the spinal surgery market) manufactured by multiple manufacturers. There is currently no multi-arm robotically coordinated system available on the market that can accommodate many different tools without endlessly changing end effectors. There has long been a strong need for such a system because it would be able to perform a full range of spinal surgical procedures through robotically coordinated control and navigation with a level of precision that is currently impossible to achieve. The currently invented gripper with a concentric opener and closer mechanism is a key component of such a system because it provides accuracy (the robotic system "knows" where the center of the robotic tool is) and ease of use because a substantially unlimited set of tools can be accommodated.

[0008] In the field of robotic surgery in general, and in the field of spinal robotic surgery in particular, it is well known that there are numerous manufacturers of tools and implants for various surgical procedures. There are also situations where many companies design and manufacture robotic systems for surgical procedures. This causes a mismatch and / or lack of synchronization between the robotic system and the robotic tool set. The robotic device and its specific software may not be optimally matched to the tool set of a specific manufacturer (the manufacturer has designed tools for a specific type of robotic surgical procedure (such as a spinal surgical procedure)). This mismatch may exist in end effectors (such as drilling tools), and may also exist in surgical tools, implants, etc.

[0009] In this case, the robotic devices and robotic software of companies developing generic surgical robotic systems cannot perfectly adapt to any random implant and tool system that a specific hospital or surgeon may use. In addition, there are dozens of implant systems on the market that are constantly evolving and changing, so it is almost impossible for robotic companies to adapt their robotic systems to the large number of tool variations on the market. Additionally, health regulatory agencies usually require a business or quality assurance (QA) agreement between the robotic system manufacturer and the tool manufacturer in order to approve the use of the tool with the robot, which will greatly complicate things and ultimately delay further treatment for the patient.

[0010] All of these barriers put robotics companies in a situation where they are forced to form some sort of business relationship with one specific implant / tool ​​company or just settle on generic tool guidance for their robotic systems. This creates a situation where robots are designed without optimal fit with the full set of implants or tools that can be used with their robotic systems (i.e. surgeons can only use the robotic system for guidance and tool positioning, or drill holes on top, but not guide taps or screwdrivers and implants). All of this of course results in less precise procedures (robots for drilling but not for screw insertion) that do not fully utilize the full capabilities of the robotic system and provide no benefit to the patient or surgeon.

[0011] Therefore, there is a strong need for a robotic system that can deploy a substantially unlimited range of robotic tools using a universal gripper, particularly for spinal surgery. Such a gripper is provided in the context of the present invention. The gripper can open and close and grasp tools like a conventional gripper, but it also includes a concentric shutter so that a wide variety of tools with different diameters can be accommodated. Summary of the invention

[0012] A gripper with an integrated concentric shutter mechanism is provided herein for grasping a substantially unlimited range of tools with different random diameters. The novel gripper can be opened and closed like a conventional gripper, so that it can, for example, open and close its "jaws" to clamp a longitudinal tool around the periphery of the tool. The gripper of the present invention also includes a concentric shutter mechanism that centers the tool in the gripper regardless of its diameter or exact size, and even if the periphery of the tool is not a perfect circle. Centering of the tool is essential for accurately deploying and operating the tool. This is particularly true for tools deployed by a robotic system, or in a specific example, for tools deployed by a surgical robotic system. The robotic system can deploy a gripper with an end effector of the present invention, and the central control unit of the robotic system knows the position of the end effector. The robotic system requires a method for accurately deploying the working end of the tool toward a target position or anatomical structure, and if the tool is reliably and concentrically centered in the gripper, the tool can be accurately aimed based on the robotic system knowing the position of the end effector relative to the known center position of the tool.

[0013] The clamp of the present invention with an integrated concentric shutter mechanism has several inherent advantages over the current state of the art that does not provide an integrated device that can concentrically center various tools. That is, the device of the present invention can be opened and closed like a conventional clamp - in other words, it can open and close its "jaws" to clamp and release various longitudinal tools around their perimeters. For the clamp of the present invention that clamps the tool in this way, the tool does not need to have a perfect circumferential dimension, but the inventor calls it the "circumference" of the tool for ease of understanding. Another key advantage is that the device of the present invention has an opener and shutter mechanism. Therefore, the tool or instrument can always be concentrically centered in the end effector, and in this way, the robotic system can always know where the center of the clamped tool is, regardless of the precise identity, design or size of the tool. It is also advantageous that the integrated shutter mechanism forms a perfect circle around the clamped tool, even if the size of the tool is not perfectly circumferential. Therefore, the tool can rotate around its own longitudinal axis, which can be important for many applications (including robotic surgery applications). However, the currently available clamps have a smooth and consistent circumferential surface in contact with the tool, which allows easy motorized rotation. Finally, in addition to the basic opener and closer design, additional gripper designs ("jaws" that open and close) can be added, and the device of the present invention is relatively simple in external design and can therefore be easily cleaned and sterilized - a key feature for end effector compatibility in a surgical robotic environment.

[0014] The gripper with integrated concentric shutter mechanism of the present invention consists of three main parts. The compartment houses electronic components, such as motors and controllers. In the context of robotic surgery applications, the compartment will be non-sterile and will be covered by a sterile cover. Needless to say, the compartment can certainly be designed to be completely sealed and sterilized thereby, but this will result in more expensive design and manufacture. The proposed design provides a simple and cost-effective unit. Next, an axis for transmitting motion from the motor to the gripper is provided. In the context of robotic surgery (e.g., a sterile autoclave), the axis will typically be sterile. Finally, the gripper unit itself is provided and is of course sterile in the context of robotic surgery. The concentric shutter included in the gripper unit includes two pairs of opposing curved cylinders that, when deployed in combination, form a circular joint for grabbing tools of different diameters and sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A tool holder with an integrated concentric shutter is shown according to an embodiment of the present invention.

[0016] FIG. 2 shows two alternative views of the device of the invention holding a tool according to an embodiment of the invention.

[0017] 3 shows two alternative views of a rotating cylindrical portion of the apparatus of the present invention, which allows the apparatus to be concentrically adjusted to accommodate tools of different diameters, according to an embodiment of the present invention.

[0018] FIG. 4 shows two alternative side partial perspective views of the apparatus of the invention holding a tool according to an embodiment of the invention.

[0019] Figure 5 A top partial perspective view of a holder element of the apparatus of the invention showing a holder tool according to an embodiment of the invention.

[0020] Figure 6 A side close-up partial perspective view of a gripper element and a rotating cylinder is shown according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] With reference now to the drawings and several representative embodiments of the invention, the following detailed description is provided.

[0022] exist Figure 1 In one embodiment of the present invention shown, the tool holder with integrated concentric shutter has three main components.Non-sterile compartment 101 accommodates electronic components, such as motor and controller.This non-sterile compartment 101 is designed to be located outside the sterile area during surgery.Non-sterile compartment is configured to be separated from the rest of the equipment when the next component (sterile shaft 102) of the equipment is assembled to the non-sterile compartment 101.Sterile shaft 102 is designed to transfer motion from the motor of the non-sterile compartment to the next component (gripper mechanism 103) of the equipment.The gripper mechanism has two main components and corresponding functions.The gripper itself opens and closes like a standard gripper or grabber.In two gripper elements, relative pairs of concentric shutters 104a, 104b are included, and relative pairs of concentric shutters 104a, 104b can be rotated to form concentric larger or smaller openings, to adapt to tools of different sizes and / or diameters.

[0023] The gripper jaws are opened and closed by the action of a horizontal motion along a horizontal sterile axis, which is transferred to a lever element on the gripper mechanism element. Those skilled in the art will appreciate that this is only one way to transfer energy generated by a motor to the jaws of the gripper, and that other similar possibilities exist. The gripper element itself houses a vertical axis that can also undergo a rotational motion due to energy provided by a motor in the non-sterile compartment. The rotational motion of this horizontal axis in turn engages a gear that in turn rotates the paired concentric shutter elements inwardly or outwardly to make the concentric openings in the gripper mechanism larger or smaller to accommodate tools of different sizes.

[0024] exist Figure 2aand Figure 2b In another embodiment of the present invention, shown in two alternative views in FIG. 1 , a tool holder with an integrated concentric shutter is shown for holding a tool. Figure 2a and Figure 2b Both show a tool 201 being grasped by the device with the gripper jaws 202 closed and the concentric shutter pair 203 having been rotated to form a concentric opening matching the diameter of the tool. Figure 2a The limiting edge 204 at the leftmost end of the holder element is highlighted, which acts as a stop for the tool so that the tool cannot slide horizontally out of the holder. Figure 2b A partial perspective view of the sterile shaft is shown in order to illustrate the rotating shaft 205 and the method by which it engages with the gripper mechanism via the lever element 206 .

[0025] exist Figure 3a and Figure 3b In another embodiment of the present invention shown, a partially transparent top view of the clamp mechanism shows a lever element 301 which opens and closes the clamp jaws 302 by transferring linear motion from a sterile shaft 303 (in conjunction with a gear 304 engaged with a vertical shaft 305 of the clamp mechanism) to cause a rotating cylinder 306 to rotate inward or outward, thereby causing the concentric shutter to form a larger or smaller opening.

[0026] exist Figure 4a and Figure 4b In an additional embodiment of the present invention shown, a partially transparent side view of a tool holder having an integrated concentric shutter is shown. Figure 4a The device is shown grabbing a larger tool 401, and Figure 4b The device is shown gripping a relatively small tool 402. Both figures show elements of the gripper and shutter mechanism. Figure 4a In the , the pairs of concentric shutter elements rotate outward to accommodate the larger diameter of the tool, while in Figure 4b In the embodiment of the invention, pairs of concentric shutter elements rotate inwardly to allow the device to grasp relatively narrow diameter tools.

[0027] Similarly, Figure 5 A close-up view of a gripper element of an embodiment of the apparatus of the present invention is shown gripping a small diameter tool 501. Figure 5 As can be seen in FIG. 5 , the pair of concentric shutter elements 502 are almost completely rotated inwardly to form a small diameter concentric opening to clamp a small diameter tool.

[0028] Figure 6A close-up, partially cut-away view of the end of a gripper of an embodiment of the present invention is shown. A vertical shaft 601 of the gripper element is shown, which is configured to transfer rotational motion to a gear 602, which is then used to rotate a pair of concentric shutter elements 603 inwardly or outwardly to form a smaller or larger concentric opening in the gripper.

[0029] Those skilled in the art will recognize that several variations of the disclosed embodiments are possible while remaining within the scope of the invention. By way of example only, different variations of the precise dimensions and profiles of the holder and integrated shutter may be used without departing from the invention. As another example, additional opposing pairs of curved cylinders may be integrated into embodiments of the holder of the present invention to accommodate larger and / or longer tools. As another example, the motorized components and control functions of the holder of the present invention may be operationally integrated with the control functions of the surgical robotic system, or they may operate independently. The embodiments provided are representative in nature.

Claims

1. A holder for holding a tool, the holder comprising: a compartment housing a motor; a shaft having a proximal end and a distal end, the shaft being mechanically coupled to the compartment at its proximal end; a gripper mechanism comprising two opposing gripper elements mechanically coupled to the distal end of the shaft; as well as at least two pairs of concentric shutter elements, the at least two pairs of concentric shutter elements being integrated with the clamp mechanism, the at least two pairs of concentric shutter elements being configured to selectively rotate inwardly or outwardly to change the circumference of the opening in the clamp mechanism; Wherein the shaft is configured to transfer motion from the motor to the gripper mechanism and the concentric shutter element.

2. A gripper for holding a tool according to claim 1, wherein the shaft is configured to transmit horizontal motion generated by the motor along the length of the shaft from its proximal end to its distal end so as to selectively open and close the gripper elements.

3. The holder for holding a tool according to claim 1, wherein the shaft is configured to transmit the rotational motion generated by the motor to engage the concentric shutter element and selectively rotate the concentric shutter element inwardly or outwardly.

4. A clamp for clamping a tool according to claim 1, wherein the shaft is configured to transmit horizontal motion generated by the motor along the length of the shaft from its proximal end to its distal end so as to selectively open and close the clamp element, and wherein the shaft is also configured to transmit rotational motion generated by the motor to engage the concentric shutter element and selectively rotate the concentric shutter element inwardly or outwardly.

5. A holder for holding a tool according to claim 3, further comprising a vertical shaft accommodating a gear engaged with the concentric shutter element, wherein the rotational movement causes the gear to rotate, and the rotation of the gear in turn causes the concentric shutter elements to selectively rotate inwardly or outwardly.

6. A holder for holding a tool as in claim 1, wherein the circumference of the opening in the holder mechanism varies to match the circumference of a tool held by the holder mechanism.

7. A holder for holding a tool according to claim 6, wherein the tool is circumferentially centered in the holder mechanism.

8. A holder for holding a tool according to claim 7, wherein the tool has a non-constant circumferential radius but is still circumferentially centered in the holder mechanism.

9. The holder for holding a tool according to claim 1, wherein the shaft is selectively separable from the compartment housing the motor.

10. A holder for holding a tool according to any one of claims 6 to 9, wherein the tool can be rotated while being held by the holder mechanism.

11. A gripper for holding a tool according to any one of the preceding claims, wherein the gripper for holding a tool is an end effector of a robotic system.

12. A holder for holding a tool according to claim 11, wherein the robotic system is a surgical robotic system.

13. A holder for holding a tool according to claim 12, wherein the compartment housing the motor is configured to be positioned in a non-sterile field during a surgical procedure.

14. A holder for holding a tool according to claim 12, wherein the shaft and holder mechanism are configured to be positioned in a sterile field during a surgical procedure.

15. A holder for holding a tool according to claim 14, wherein the shaft and holder mechanism are configured to be sterilizable after being separated from the compartment housing the motor.

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