Cloth system and connector

Abstract

The utility model relates to a drape system and a connector. The drape system (50) may include a drape (52) and a connector (54) for connecting a patient tracking device (22) across the drape (52). A drape (52) may be placed over a patient who is receiving a medical procedure. The connector (54) may be defined by a first connector body (60) and a second connector body (62). The first connector body (60) may be coupled to a base (56) of the patient tracking device, which in turn is attached to the patient. The second connector body (62) may be coupled to a head (58) of a patient tracking device. A head (58) of the patient tracking device may carry at least one tracking marker (24) configured to be tracked by a surgical position recognition system (26). The two connector bodies (60, 62) may be connected together by a drape (52) positioned between the two bodies.

Description

[0001] Related matters

[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 351341, filed June 11, 2022, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to a sterile drape system for providing a sterile barrier during medical procedures, and more specifically, to a sterile drape system for use with a position recognition device during robot-assisted surgery. Background Technology

[0004] Medical drapes, also known as surgical drapes, are used during surgical procedures to help protect patients and equipment from contamination. For example, a patient drape can be used to cover parts of a patient's body not involved in the surgical procedure, providing a window or isolation space for areas of the patient's body approaching the surgical procedure. Such patient drapes can be used during conventional surgical procedures performed under the guidance of one or more clinicians, or during robot-assisted surgery. In the case of robot-assisted surgical procedures, the surgeon can control a surgical robot that includes one or more robotic arms that can be manipulated by the surgeon during the procedure. The surgical robot may include various medical instruments that can be inserted into the patient to perform the surgical procedure, and may also include visualization aids such as endoscopes, cameras, etc., to observe what is happening inside and / or around the surgical site within the patient.

[0005] In robot-assisted surgery, high-precision tracking of the patient and objects (such as surgical instruments) is often required when the robot or surgeon positions and moves instruments. For this purpose, a position recognition system can be used to determine the position of a specific object and track that object in three dimensions (3D). Position recognition systems can use passive and / or active sensors or markers attached to the object to be tracked (such as a patient). The object to be tracked can include passive sensors, such as reflective spherical balls, located at key positions on the object. When active sensors or markers are used, the object to be tracked includes active infrared emitters, such as light-emitting diodes (LEDs), which generate their own signals for 3D detection. In either case, the system can geometrically resolve the three-dimensional position of the active and / or passive sensors based on information from or about one or more infrared cameras, digital signals, known positions or distances of the active or passive sensors, the time required to receive a response signal, other known variables, or combinations thereof.

[0006] In practice, one or more tracking devices may be attached to a patient to track one or more anatomical locations during surgical procedures. Ideally, the tracking device should be attached to the patient where it is covered by the surgical drape. If the tracking device is positioned under the surgical drape, the drape material can impede accurate detection and tracking through the drape. However, if the tracking device is positioned outside the surgical drape, the clinician may need to puncture the drape to provide an access hole to attach the tracking device to the patient through the drape. Puncture the drape can compromise its sterility and reduce the effectiveness of sterile coverage. Utility Model Content

[0007] Generally, this disclosure relates to connectors for attaching patient tracking devices to a patient via a drape during medical procedures, including related methods and systems involving such connectors and / or drapes. In some instances, a medical drape (also known as a surgical drape) defines a sheet of drape material configured (e.g., sized and / or shaped) to be positioned over at least a portion of a patient undergoing a medical procedure. The drape may include an area defining a continuous sheet of material without openings, which may define the entire extent of the drape or may be a portion of the drape, which may also include one or more openings (e.g., incisions, windows) through which a surgeon can access the patient. In either case, a clinician can attach one or more patient tracking devices to the patient at the location where the patient is covered by the drape. Connectors may be provided to attach patient tracking devices to the patient via the drape while helping to maintain the sterile barrier provided by the drape.

[0008] In some instances, the connector according to this disclosure is configured to connect the patient tracking device across the thickness of the drape without creating holes or otherwise damaging the drape. To this end, in some implementations, the patient tracking device may be configured as a multi-piece device including one component that can be positioned under the drape and another component that can be positioned above the drape. For example, the patient tracking device may include a base configured to attach to the patient under the drape and a head configured to be positioned on opposite sides of the drape. The head of the patient tracking device may carry one or more tracking markers that can be tracked by a surgical position recognition system in the surgical environment.

[0009] The connector may also include multiple parts that can be positioned on opposite sides of the cover. For example, the connector may include a first connector body coupled to the base of the patient tracking device and a second connector body coupled to the head of the patient tracking device. The first connector body can be connected to the second connector body via cover material positioned between the two connector bodies. For example, in some embodiments, the first and second connector bodies may each have magnets of opposite polarity, configured to be magnetically attached to each other through the thickness of the cover material.

[0010] During use, the clinician can position the base of the patient tracking device at a target location on the patient. With the first connector body attached to the base of the patient tracking device, the clinician can position the cover over the patient, including above the first connector body. The clinician can then attach the second connector body to the first connector body, with the cover held between the two connector bodies. For example, the head of the patient tracking device can be attached to the second connector body before or after attaching the second connector body to the first connector body. The resulting setup provides a patient tracking device that is positioned outside and below the cover for a patient with a cover covering at least a portion of their body.

[0011] While connectors according to this disclosure can have various different configurations as described herein, in some instances, the connector comprises two connector bodies attached to each other in a rotationally restricted position. For example, the two connector bodies may have corresponding geometric features and / or corresponding sets of magnetic features that restrict rotational movement relative to each other when the two connector bodies are coupled together. In some embodiments, the two connector bodies are configured to be connected to each other only in a single rotational position. In other embodiments, the two connector bodies are configured to be connected to each other in multiple different rotational positions; however, once the two connector bodies are coupled together, further rotational movement is prohibited. Once coupled together, suppressing rotational movement of the connector bodies relative to each other can help prevent unintentional movement of one tracking body relative to the other during surgical procedures, which could result in misalignment of one or more tracking markers relative to the intended position to be tracked.

[0012] In one example, a drape system including a drape and a connector is described. The drape is configured to be placed over at least a portion of a patient undergoing a medical procedure. The drape has a first side configured to face the patient and a second side opposite a first surface. The connector is configured to connect across the drape to a patient tracking device. The connector includes a first connector body and a second connector body, the first connector body being configured to engage with a base of the patient tracking device, and the second connector body being configured to engage with a head of the patient tracking device. The base of the patient tracking device is configured to attach to the patient, and the head of the patient tracking device carries at least one tracking mark configured to be tracked by a surgical position identification system. This example specifically illustrates a first connector body configured to connect to a second connector body, wherein the drape is positioned between the first and second connector bodies.

[0013] In another example, a drape system is described, comprising a drape, a patient tracking device, and a connector. The drape is configured to be placed over at least a portion of a patient undergoing a medical procedure. The drape has a first side configured to face the patient and a second side opposite a first surface. The patient tracking device includes a base configured to attach to the patient and a head carrying at least one tracking marker configured to be tracked by a surgical position identification system. The base of the patient tracking device has a proximal end, and the head of the patient tracking device has a distal end. The connector is configured to connect the patient tracking device across the drape. The connector includes a first connector body and a second connector body, the first connector body being configured to engage with the proximal end of the base of the patient tracking device, and the second connector body being configured to engage with the distal end of the head of the patient tracking device. This example specifically illustrates the first connector body being configured to connect to the second connector body, wherein the drape is positioned between the first connector body and the second connector body.

[0014] In another example, a connector for connecting a tracking device across a cover is described. The connector includes a first connector body and a second connector body. The first connector body is configured to engage with a base of a patient tracking device, the base of which is configured to attach to a patient, and the first connector body defines a face configured to contact a first side of a cover for covering the patient. The second connector body is configured to engage with a head of the patient tracking device carrying at least one tracking mark, and the second connector body defines a face configured to contact a second side of the cover. Specifically, this example illustrates that a face of the first connector body is configured to connect to a face of the second connector body, wherein the cover is positioned between the first and second connector bodies.

[0015] In another example, a method for attaching a tracking device across a drape is described. The method includes positioning a first connector body, which is attached to and / or attachable to a base of the tracking device, on a first side of the drape. The method includes positioning a second connector body, which is attached to and / or attachable to a head of the tracking device, on a second side of the drape, the head carrying at least one tracking mark configured for tracking by a surgical location identification system. The method further includes connecting the first connector body to the second connector body, wherein the drape is positioned between the first and second connector bodies.

[0016] Details of one or more examples are set forth in the accompanying drawings and the description below. Other features, objects, and advantages will be apparent from the specification, drawings, and claims. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of an example surgical environment in which the connector and / or drape system according to this disclosure can be used.

[0018] Figure 2 It can be used Figure 1 A perspective view of an example drape system in an example surgical environment.

[0019] Figure 3 It can be used Figure 2 A perspective view of an example configuration of the connectors for the cover system.

[0020] Figure 4 It can be used Figure 2 A perspective view of the instance connector body on the instance connector.

[0021] Figure 5 The diagram can be used Figure 2 A diagram of an example magnetic array on the connector body. Detailed Implementation

[0022] This disclosure generally relates to a surgical drape that utilizes a connector system to attach a patient tracking device to a patient via the thickness of the drape, while simultaneously helping to maintain the structural integrity and sterile barrier provided by the drape. The connector system may include two bodies positioned on opposite sides of the drape, with the thickness of the material forming the drape positioned between the two bodies. For example, the connector system may include a first body connected to and / or connectable to a first portion of the patient tracking device that can be attached to the patient. The connector system may also include a second body connected to and / or connectable to a second portion of the patient tracking device intended to be positioned outside the drape. The second portion of the patient tracking device may be or include one or more features detectable by a surgical position recognition system implemented in the operating environment where the patient is covered. The two connector bodies may be physically and / or magnetically connected to each other to form an engaged connector, with the drape extending through the cross-section of the connector.

[0023] Reference Figure 2-5 A more detailed description of the instance connector configuration is provided. However, reference will be made first. Figure 1 The description can utilize an example surgical environment with connectors and / or drape systems according to this disclosure.

[0024] Figure 1 This is a schematic diagram of an example surgical environment in which the connector and / or drape system according to this disclosure can be utilized. Specifically, Figure 1 The illustration depicts an example surgical environment 10, in which a robotic surgical system 12 is used to perform surgical procedures on a patient 14. The example robotic surgical system 12 includes a surgeon's control station 16, a patient-side robotic trolley 18, and one or more displays 20. In use, a clinician can manipulate the robotic surgical instruments carried on the patient-side robotic trolley 18 via the surgeon's control station 16 to perform surgical procedures on the patient 14. The one or more displays 20 can display electronic information related to the ongoing surgical procedure, such as images from inside the patient's body.

[0025] One or more patient tracking devices 22 may be attached to the patient 14 to monitor the position / orientation of one or more locations of the patient during a surgical procedure utilizing the robotic surgical system 12. Each patient tracking device 22 may carry one or more tracking markers 24. The surgical position recognition system 26 may track the one or more tracking markers 24 carried by each tracking device 22. Additional tracking markers 24 may be attached to track the movement of the robotic arm, end effector, and / or surgical instruments in three dimensions within the surgical environment.

[0026] In some instances, the surgical location identification system 26 may be implemented using one or more cameras (e.g., mounted on a wall or ceiling surface of the operating room and / or on a movable camera mount). When implemented in this way, the cameras may include any suitable one or more cameras, such as one or more infrared cameras (e.g., dual-focal or stereophotogrammetry cameras), capable of identifying active and / or passive tracking markers 24 in a given measurement volume, for example, visible from the camera view. The cameras may scan the given measurement volume and detect light from the markers 24 in order to identify and determine the position of the markers 24 in three dimensions. For example, active markers 24 may include infrared emitting markers activated by electrical signals (e.g., infrared light-emitting diodes (LEDs)), and passive markers 24 may include reflective infrared light (e.g., reflecting incident IR radiation in the direction of the incident light), such as backreflective markers of infrared light emitted by an illuminator on the camera or other suitable device.

[0027] In some instances, multiple tracking markers 24 may be mounted (or otherwise secured) on the outer surface of the robot, such as, for example, on the robot's base, on the robot arm 104, or on the robot's end effector. As described herein, one or more tracking markers 24 may be further mounted (or otherwise secured) to the patient 14. In some instances, multiple tracking markers 24 may be positioned on the patient 14 spaced apart from the surgical area to reduce the likelihood of obstruction by the surgeon, surgical instruments, or other parts of the robot. Further, one or more tracking markers 24 may be further mounted (or otherwise secured) to surgical instruments (e.g., screwdrivers, dilators, implant inserters, etc.). Thus, the tracking markers enable the robot to track the object of each marker. In examples, the system can use the tracking information collected from the object of each marker to calculate the orientation and position of the tracked object relative to the patient 14.

[0028] Tracking mark 24 may include a transmissive mark or an optical mark. Tracking mark 24 may be suitably shaped as a sphere, ellipsoid, cylinder, cube, cuboid, etc. In some instances, one or more tracking marks 24 may be optical marks. For example, tracking mark 24 may be an infrared light-emitting diode (LED) capable of being tracked using an infrared optical tracking system. Alternatively or additionally, tracking mark 24 may include a conventional reflective sphere capable of being tracked using an optical tracking system. In some implementations, tracking mark 24 attached to patient 16 is a passive reflective mark, such as a passive reflective sphere. In either case, light emitted from and / or reflected by tracking mark 24 may be detected by surgical position recognition system 26 (which may be implemented using one or more cameras) and may be used to monitor the position and movement of the marked object. Tracking mark 24 may be a targeting device. Alternatively or additionally, tracking mark 24 may include a radio frequency and / or electromagnetic reflector or transceiver, and surgical position recognition system 26 may include or be replaced by a radio frequency and / or electromagnetic transceiver.

[0029] One or more computing devices associated with the surgical position recognition system 26 can receive and process information from other components in order to display information to the user. For example, one or more computing devices associated with the surgical position recognition system 26 can track the position of certain markers located on different components of the system and / or instruments used by the clinician during the surgical procedure relative to the patient's position, which is also tracked by the system. The location, orientation, and / or position of the structures with the tracking markers can be provided to one or more computing devices, which can then display the information to the clinician on display 20 or another display device. For example, surgical instruments associated with a three-dimensional image of the patient's anatomy can be displayed to the user.

[0030] Figure 2 It can be used Figure 1 A perspective view of an example drape system 50 in an example surgical environment. The drape system 50 includes a drape 52 configured to be placed over at least a portion of a patient 14 undergoing a medical procedure. The drape system 50 may also include one or more patient tracking devices 22 configured to be attached to the patient 14. Each of the one or more patient tracking devices 22 may carry one or more tracking markers 24 configured to be tracked by a surgical location identification system 26. Figure 1 Connector 54 can connect to patient tracking device 22 across drape 52 while maintaining the sterile barrier provided by the drape. For example, connector 54 can connect to patient tracking device 22 across the thickness of drape 52 without piercing the drape material or pre-cutting an opening in the drape material through which patient tracking device 22 will pass.

[0031] exist Figure 2In the illustrated arrangement, the patient tracking device 22 is illustrated as being formed of a plurality of individual components configured to be positioned on opposite sides of a cover 52. Specifically, the patient tracking device 22 is illustrated as including a base 56 and a head 58. The base 56 is configured to be attached to the patient 14. The head 58 may carry one or more tracking markers 24. The base 56 of the patient tracking device 22 may be positioned on a first side 52A of the cover 52 facing the patient 14 (wherein the base extends between the patient and the cover 52). The head 58 of the patient tracking device 22 may be positioned on a second side 52B of the cover 52 opposite to the first side 52A of the cover 52. Thus, the head 58 of the patient tracking device 22 and the one or more tracking markers 24 carried by the head may be outside the space covered by the cover 52 for detection by the surgical position recognition system 26.

[0032] Connector 54 can connect to patient tracking device 22 across cover 52. Connector 54 may include at least two separable parts that can be coupled together to define a connector: a part that can be positioned on a first side 52A of cover 52 and a second part that can be positioned on a second side 52B of cover 52. In the illustrated arrangement, connector 54 is shown implemented using a first connector body 60 and a second connector body 62. The first connector body 60 can be coupled to the base 56 of patient tracking device 22. The second connector body 62 can be coupled to the head 58 of patient tracking device 22. The first connector body 60 is configured to mate and / or connect with the second connector body 62, wherein cover 52 is positioned between the two connector bodies. When connected together, the first connector body 60 and the second connector body 62 can be temporarily interlocked such that the two connector bodies are configured not to disassemble without intentional disassembly by a clinician. Figure 2 The diagram illustrates a first connector body 60 separate from the second connector body 62, wherein a cover 52 is interposed between the two connector bodies, which can be joined together to hold the cover between them.

[0033] The first connector body 60 and the second connector body 62 can be configured in various ways to allow the two components to form a connection across the thickness of the cover 52. In some embodiments, each connector body includes one or more magnets that allow the two connector bodies to be magnetically connected to each other across the thickness of the cover 52. Alternatively or additionally, each connector body can be configured to physically engage and / or mechanically interlock with another connector body to form a connection between the two connector bodies. For example, a connector body may include one or more lips, recesses, barbs, tabs, protrusions, cavities configured to engage (e.g., interlock) with one or more complementary and / or corresponding structures on another connector body, wherein the cover 52 is inserted between the two connector bodies. The cover 52 may be bent, folded, and / or otherwise deformed and / or conform to the dimensions and shape of the interconnect features between the two connector bodies.

[0034] Independent of the specific manner in which the first connector body 60 and the second connector body 62 are configured to connect to each other, the two connector bodies can be connected to each other via a cover 52 positioned between the two connector bodies without puncturing the cover. For example, a portion of the cover 52 positioned between the first connector body 60 and the second connector body 62 can be a continuous area of ​​cover material without any openings extending through the thickness of the cover. The first connector body 60 and the second connector body 62 can be connected together with the cover 52 positioned between the two connector bodies while maintaining the structural integrity of the cover and the barrier properties provided by the cover. After the two connector bodies are disassembled from each other following use, the portion of cover material previously positioned between the two connector bodies remains without any openings (e.g., punctures, perforations). This helps maintain the sterile barrier provided by the cover when using the connector 54.

[0035] In other instances, a connector body may include, for example, one or more features configured to pierce the thickness of the drape 52 and interconnect with one or more complementary features on another connector body. During the interconnection of the two connector bodies, after piercing the drape 52, the connection between the two connector bodies may be tight enough that the connector 54 blocks the puncture in the resulting assembly, providing a sterile barrier for the remainder of the surgical procedure.

[0036] The base 56 of the patient tracking device 22 can be implemented using any structure configured to be directly or indirectly attached to the patient 14. The base 56 can be attached to a rigid anatomical structure of the patient 14 and can remain attached throughout the surgical procedure. For example, the base 56 can be attached to the patient's bones, such as bones located away from the target anatomical structure during the surgical procedure. The base 56 can define an axis configured to be inserted into the patient 14. For example, the base 56 can define an axis configured for percutaneous insertion through the skin of the patient 14 into the underlying bone. In other instances, the base 56 can be attached externally to the skin of the patient 14.

[0037] The head 58 of the patient tracking device 22 can be implemented using any structure configured to directly or indirectly attach the tracking markers 24. In some instances, the head 58 defines an axis extending outward (e.g., orthogonally) from below the patient 14's body. One or more tracking markers 24 can be positioned along the length of the head 58 at any desired location, including the top and / or sides of the head.

[0038] In some implementations, the head 58 defines a tracking array 64 carrying multiple tracking markers 24. For example, an array of two, three, four, or more tracking markers 24 may be provided on the head 58 of the patient tracking device 22. The tracking array 64 may include linear portions, cross pieces, and may be asymmetrical, such that different tracking markers are in different relative positions and orientations relative to each other on the tracking array.

[0039] The base 56 may define a fixed orientation relative to the first connector body 60, or an adjustable orientation relative to the connector body. Similarly, the head 58 may define a fixed orientation relative to the second connector body 62, or an adjustable orientation relative to the connector body. When the base 56 and / or the head 58 are configured with an adjustable orientation, the clinician can adjust the orientation of the feature relative to the respective connector body and then lock the adjusted orientation to maintain that position. This provides the clinician with the flexibility to adjust the position of one or more tracking marks 24 after the first connector body 60 has been connected to the second connector body 62.

[0040] The patient tracking device 22—which includes a base 56 and a head 58—can be sterilized and reused multiple times on different patients. When configured in this way, the base 56 can be detachably or non-detachably coupled to a first connector body 60 and / or the head 58 can be detachably or non-detachably coupled to two second connector bodies 62. The connector 54 can be a disposable component intended to be discarded after a single use, or, conversely, a sterilizable connector intended to be reused multiple times with the patient tracking device.

[0041] In one implementation, connector 54 is a disposable component included with each new drape 52. Clinicians can obtain a reusable patient tracking device 22, connect components of the patient tracking device to connector 54, and use the obtained components during surgical procedures using drape 52. After the surgical procedure, clinicians can remove components of patient tracking device 22 from connector 54, deploy drape 52 and connector 54, and sterilize patient tracking device 22.

[0042] In another implementation, connector 54 can be reused with patient tracking device 22. When configured this way, components of patient tracking device 22 can be detached from components of connector 54, or they can remain attached. For example, base 56 can be permanently attached to first connector body 60 (e.g., to form an integral structure not intended to be disassembled from each other), or base can be detachably attached to first connector body (e.g., to form an integral structure intended to be separated from each other into two or more separate components). Similarly, head 58 can be permanently attached to second connector body 62 (e.g., to form an integral structure not intended to be disassembled from each other), or base can be detachably attached to second connector body (e.g., to form an integral structure intended to be separated from each other into two or more separate components).

[0043] Whether the base 56 and head 58 are permanently or detachably coupled to the first connector body 60 and the second connector body 62, respectively, the base and head can be coupled to the connector bodies in a manner that configures the connector bodies to engage with each other. For example, the base 56 may define the first connector body 60 to which it is coupled at a proximal end 66. The head 58 may define the second connector body 62 to which it is coupled at a distal end 68. Various mechanical connection features can be used to connect the base 56 and head 58 to the first connector body 60 and the second connector body 62, respectively. For example, screws, pins, adhesives, friction fits, and / or other features can be used to connect a component of the patient tracking device 22 to a corresponding component of the connector 54. Alternatively, the component of the patient tracking device 22 may be formed together with the corresponding component of the connector 54 (e.g., by casting, molding, milling, etc.).

[0044] In use, the first connector body 60 and the second connector body 62 can engage with each other, with a cover 52 held between the two connector bodies. For example, the first connector body 60 may define a face 70 configured to contact a first side 52A of the cover 52. The second connector body 62 may define a face 72 configured to contact a second side 52B of the cover 52. The face 70 of the first connector body 60 may have a shape complementary to the face 72 of the second connector body 62. For example, the profile of the face 70 of the first connector body 60 (e.g., surface features, depth variations across the face) may conform to the profile of the face 72 of the second connector body 62. In one example, the profile of the face 70 of the first connector body 60 is a mirror image (e.g., substantially equal and opposite) of the profile of the face 72 of the second connector body 62. In other examples, the face 70 of the first connector body 60 has a different profile than the face 72 of the second connector body 62, but the two profiles are sufficiently similar to each other and / or indexed relative to each other to allow the two connector bodies to interconnect.

[0045] exist Figure 2 In the illustrated arrangement, both the surface 70 of the first connector body 60 and the surface 72 of the second connector body 62 are shown as defining flat surfaces. When configured this way, a cover 52 can be held between the flat surfaces of the first connector body 60 and the second connector body 62. The surface 70 of the first connector body 60 and / or the surface 72 of the second connector body 62 may or may not include an adhesive (e.g., pressure-sensitive adhesive) to help secure the connector bodies to the cover 52. In some configurations, the first connector body 60 and / or the second connector body 62 may define non-flat surfaces. Non-flat surfaces may be characterized by having one or more recesses and / or protrusions extending in a dimension parallel to an axis defined by the thickness of the cover 52.

[0046] Figure 3 This is a perspective view of an example configuration of connector 54, where the first connector body 60 and the second connector body 62 have non-planar surfaces 70, 72. When the non-planar surfaces are configured, the cover 52, positioned between the two connector bodies after assembly, can be bent or deformed to be positioned in different planes extending through the connector. This may help prevent relative movement between connector 54 and cover 52 after assembly.

[0047] like Figure 3As illustrated in the examples, the surface 70 of the first connector body 60 may include one or more protrusions 80 and / or recesses 82. The surface 72 of the second connector body 62 may include one or more complementary recesses 84 and / or protrusions 86 configured to mate with one or more protrusions 80 and / or recesses 82 defined on the surface of the first connector body. In some examples, the surface 70 of the first connector body 60 includes a plurality of alternating protrusions 80 and recesses 82 arranged around a surface of the connector body (e.g., around the periphery or circumference of the connector body). The surface 72 of the second connector body 62 may include a plurality of complementary recesses 84 and protrusions 86 arranged around a surface of the connector body (e.g., around the periphery or circumference of the connector body) and configured to mate with the alternating protrusions and recesses of the first connector body. The protrusions and / or recesses on each of the first connector body 60 and the second connector body 62 may have any desired shape (e.g., defined by acute angles, radii of curvature) at any desired height or depth.

[0048] Figure 4 It can be used Figure 2 The diagram shows a perspective view of an example connector body 90 of connector 54. Connector body 90 may represent a first connector body 60 and / or a second connector body 62, wherein the respective connector bodies have complementary profiles. As shown in this example, connector body 90 includes a magnet 92 for magnetically attaching the connector body to the respective connector body, wherein a cover 52 is inserted between the two connector bodies. For example, the first connector body 60 may carry a first magnet, the second connector body 62 may carry a second magnet, and the two connector bodies may be magnetically attached to each other by the magnetic attraction of the two magnets. In the illustrated arrangement, magnet 92 is illustrated as being positioned approximately at the geometric center of connector body 90 (e.g., ±10% of the geometric center). In other configurations, magnet 92 may be offset from the geometric center of the connector body.

[0049] Further reference Figure 3 The first connector body 60 can be configured to connect to the second connector body 62, wherein the first connector body is rotatably fixed relative to the second connector body. For example, when assembling the corresponding protrusions and recesses of the two connector bodies with each other during assembly, configuring the two connector bodies to have corresponding protrusions and / or recesses may cause the two connector bodies to move into a specific rotational alignment. In some configurations, the two connector bodies can be rotatably fixed relative to each other in multiple different rotational positions. For example, as... Figure 3 As shown, the different protrusions and recesses defined by the first connector body 60 and the second connector body 62 have the same size and / or shape. This allows a connector body to rotate until any protrusion aligns with any recess of the corresponding connector body.

[0050] In other configurations, the first connector body 60 and the second connector body 62 may be fixed relative to each other in only a single rotational position. When configured this way, the face 70 of the first connector body 60 and the face 72 of the second connector body 62 may need to rotate relative to each other until the two faces are in a particular relative orientation in which they do not rotate relative to each other in other relative orientations. This arrangement can be used to provide a fixed orientation of the head 58 (including one or more tracking markers 24 carried by the head) relative to the base 56 to which the patient is attached. For example, if a clinician wants or needs to remove the head 58 by detaching the second connector body 62 from the first connector body 60, the clinician can do so, and the two connector bodies can then be reattached together, positioning the head 58 in the same relative orientation as when the head was removed.

[0051] Various different features can be implemented to configure the first connector body 60 for connection of the second connector body 62 in a single rotational orientation position. Further reference. Figure 4 For example, each connector body facet may have an asymmetrical profile. For example, each connector body facet may have one or more protrusions and / or recesses configured to differ (e.g., have different sizes and / or shapes) from each other protrusion and / or recess defined on the connector body facet. For example, in the illustrated example, the connector body facets are shown as having multiple facets configured differently from each other (e.g., six facets as shown). Another connector body may have a complementary profile. When configured with asymmetrical profiles, the first connector body 60 and the second connector body 62 can be connected to each other in a single rotational position. In practice, it should be understood that when the surface features on the two faces are aligned, the two connector bodies may or may not (e.g., magnetically) connect when misaligned with a single rotational position. However, a clinician can detect misalignment by observing the gap between the edges of the two components and / or the tactile sensation when the two components are rotated together to determine whether the two components are in their single target rotational position.

[0052] In addition to or instead of arranging the face of the first connector body 60 in the face of the second connector body 62 for alignment in one or more specific rotational positions, the connector bodies may be configured with one or more magnetic elements arranged to control the rotational positioning of the two components relative to each other. For example, when both the first connector body 60 and the second connector body 62 include magnets radially offset from the geometric center of the connector bodies, the respective magnets may be aligned with each other to form a magnetic connection only when the connector bodies are in specific rotational positions.

[0053] In some instances, the first connector body 60 and / or the second connector body 62 include a set of magnets positioned to control the relative rotational alignment between the two connector bodies. Figure 5 It shows that it can be used Figure 2 A diagram illustrating an example magnetic array on the connector body of connector 54. As shown in this example, the first connector body 60 includes a first set of magnets 100, wherein the polarity of at least one magnet in the first set of magnets differs from that of at least one other magnet in the first set of magnets. In the schematic diagram, the maintained polarity is represented as a north "N" pole and a south "S" pole. The second connector body 62 includes a second set of magnets 102, wherein the polarity of at least one magnet in the second set of magnets differs from that of at least one other magnet in the second set of magnets. The first set of magnets 100 and the second set of magnets 102 can each be implemented using any suitable number of magnets (e.g., two, three, four, five, six or more). In either case, the polarities of the different magnets in the first set of magnets 100 can be arranged relative to the polarities of the different magnets and the second set of magnets 102 such that when a clinician places the first connector body 60 and the second connector body 62 together to connect the two bodies, the magnetic attraction / repulsion determines the rotational alignment of the two bodies relative to each other.

[0054] The first connector body 60 and / or the second connector body 62 can have any arcuate (e.g., circular, oval, elliptical) or polygonal (e.g., triangular, square, pentagonal, hexagonal, octagonal) shape, or a combination of arcuate and polygonal shapes. While the first connector body 60 can generally be configured to have the same shape as the second connector body 62, the two components can have different shapes, as long as an interlocking connection can be made between the two components. Each connector body can be formed of a polymer material (e.g., plastic), metal, ceramic, and / or other suitable material.

[0055] Typically, the cover 52 can be made of sterile (and / or sterilizable) material that can be discarded after a single use. The cover 52 can be made of any suitable material or combination of materials. For example, the cover 52 can be made of polymeric materials, fibrous fabrics (e.g., woven or nonwoven fabrics such as cotton), and / or paper. Examples of polymeric materials that can be used to manufacture the cover 52 include, but are not limited to, polyvinyl chloride, polyethylene, polypropylene, polyurethane, polystyrene, and / or polycarbonate. After manufacture but before use, the cover 52 can be sterilized or not sterilized to ensure that the cover provides a sterile barrier over the patient 14. For example, the cover 52 can undergo sterilization processes such as steam sterilization, dry heat sterilization, ethylene oxide gas sterilization, or radiation sterilization. The connector 54 can also be sterilized using any of the aforementioned sterilization processes.

[0056] In some applications, the drape 52 and connector 54 are provided as a kit. For example, the drape 52 and connector 54 may be housed in a bag or other sterile container. In use, a clinician may open the sterile container, remove the connector 54 for use as described herein, and may also remove the drape 52 to be placed over a patient undergoing a medical procedure. While the foregoing discussion has focused on a single patient tracking device 22 and a single connector 54, in practice it should be understood that multiple patient tracking devices and multiple connectors 54 may be provided and / or used with the drape 52 without departing from the scope of this disclosure. Thus, any suitable number of connectors (e.g., 1, 2, 3, 4 or more) may optionally be provided as part of a kit that includes the drape 52.

[0057] Furthermore, although the tracking device 22 is generally described as a patient tracking device, and the cover 52 is generally described as a patient cover, it should be understood that the concepts of this disclosure can also be used for non-patient applications. For example, the tracking device 22 may be attached to a medical device (e.g., a part of a robotic surgical system 12, such as the arm of the robotic surgical system) that is desired to be covered by the device cover. In these configurations, the base 56 of the tracking device 22 may be configured to be attached directly or indirectly to any desired device artifact, and the cover 52 may be configured to cover any such desired device artifact. Therefore, references to patients in the foregoing description may be replaced with corresponding references to one or more surgical devices or other hardware that utilize the concepts described herein for covering and tracking.

[0058] In use, a clinician can use connector 54 to attach tracking device 22 across cover 52. The clinician can position a first connector body 60 on a first side of cover 52. The first connector body 60 is attachable to and / or attachable to a base 56 of tracking device 22 (e.g., permanently attached to the base or attached to the base before or after assembling the connector to the cover). Before or after this, the clinician can position a second connector body 62 on a second side of cover 52. The second connector body 62 is attachable to and / or attachable to head 58 (e.g., permanently attached to the head or attached to the head before or after assembling the connector to the cover). The clinician can then interconnect the first connector body 60 and the second connector body 62.

[0059] In some instances, the clinician moves the two connector bodies toward each other (e.g., moving the second connector body 62 axially toward the first connector body). When a magnetic coupling is configured, the two bodies can interconnect when the corresponding magnets carried by the two connector bodies are sufficiently close to each other and / or in a proper rotational alignment. The clinician can rotate the other connector body relative to one connector body to find the appropriate relative position of the two bodies where physical and / or magnetic alignment exists. In some instances, the clinician presses and / or squeezes the two bodies together. For example, when forming a mechanical interconnect between the two bodies without a magnetic coupling, the clinician can press the two connector bodies together to form a mechanical coupling between the two bodies.

[0060] Regardless of the specific configuration, the connector system according to this disclosure can provide an efficient and effective mechanism for connecting tracking devices across the cover cloth while helping to maintain the sterility and integrity of the cover cloth.

[0061] Various examples have been described. These and other examples are within the scope of the claims.

Claims

1. A drape system characterized by, The drape system comprises: a drape configured to be placed over at least a portion of a patient undergoing a medical procedure, the drape having a first side configured to face the patient and a second side opposite the first surface; and a connector configured to be connected to a patient tracking device across the drape, the connector comprising a first connector body and a second connector body, the first connector body configured to be coupled to a base of the patient tracking device, the second connector body configured to be coupled to a head of the patient tracking device, wherein the base of the patient tracking device is configured to be attached to a patient and the head of the patient tracking device carries at least one tracking marker configured to be tracked by a surgical location recognition system, wherein the first connector body is configured to be connected to the second connector body, wherein the drape is positioned between the first connector body and the second connector body.

2. The drape system of claim 1, wherein, wherein the first connector body comprises a first magnet, the second connector body comprises a second magnet, and the first connector body is configured to be magnetically attached to the second connector body.

3. The drape system of claim 2, wherein, wherein: the first magnet is positioned at a general geometric center of the first connector body; and the second magnet is positioned at a general geometric center of the second connector body.

4. The drape system of any of claims 1-3, wherein, wherein: the first connector body has a face configured to contact the first side of the drape; the second connector body has a face configured to contact the second side of the drape; and the face of the first connector body has a shape that is complementary to the face of the second connector body.

5. The drape system of claim 4, wherein, wherein the face of the first connector body and the face of the second connector body are each flat.

6. The drape system of claim 4, wherein, wherein the face of the first connector body and the face of the second connector body are each non-flat, such that when the drape is positioned between the first connector body and the second connector body, drape material bends within different planes extending through the connector.

7. The drape system of claim 6, wherein, wherein: the face of the first connector body comprises one or more protrusions and / or recesses; and the face of the second connector body comprises one or more complementary recesses and / or protrusions configured to match the one or more protrusions and / or recesses defined on the face of the first connector body.

8. The drape system of claim 6 or 7, wherein, wherein: the face of the first connector body comprises a plurality of alternating protrusions and recesses; and the face of the second connector body comprises a plurality of complementary recesses and protrusions configured to match the alternating protrusions and recesses of the first connector body.

9. The drape system of any of claims 1 to 8, wherein, wherein the first connector body is configured to be connected to the second connector body, wherein the first connector body is rotationally fixed relative to the second connector body.

10. The drape system of claim 9, wherein, wherein: the first connector body comprises a first set of magnets, wherein at least one magnet of the first set of magnets has a different polarity than at least one other magnet of the first set of magnets; The second connector body includes a second set of magnets, wherein at least one magnet of the second set of magnets has a different polarity than at least one other magnet of the second set of magnets; and The first connector body is configured to connect to the second connector body, wherein the first connector body is rotationally aligned with the second connector body such that the first set of magnets magnetically couples to the second set of magnets.

11. The drape system of any one of claims 1 to 10, wherein, wherein the head of the patient tracking device includes a shaft, and a distal end of the head is defined by a distal end of the shaft.

12. The drape system of any one of claims 1 to 11, wherein, wherein the head of the patient tracking device includes a tracking array carrying a plurality of tracking markers.

13. The drape system of any one of claims 1 to 12, wherein, wherein the base of the patient tracking device includes a shaft, and a proximal end of the base is defined by a proximal end of the shaft.

14. The drape system of any one of claims 1 to 13, wherein, wherein the base of the patient tracking device includes a shaft configured to be inserted into the patient.

15. The drape system of any one of claims 1 to 14, wherein, wherein the base of the patient tracking device includes a shaft configured to be percutaneously inserted into a bone of the patient.

16. The drape system of any one of claims 1 to 15, wherein, wherein the surgical position identification system includes an optical surgical position identification system.

17. The drape system of any one of claims 1 to 16, wherein, wherein the drape material includes a polymeric material.

18. The drape system of any one of claims 1 to 17, wherein, wherein the drape material defines a continuous sheet of material without any apertures in an area between the first connector body and the second connector body.

19. A drape system characterized by, The drape system includes: a drape configured to be placed over at least a portion of a patient undergoing a medical procedure, the drape having a first side configured to face the patient and a second side opposite the first surface; a patient tracking device including a base configured to be attached to a patient and a head carrying at least one tracking marker configured to be tracked by a surgical position identification system, wherein the base of the patient tracking device has a proximal end and the head of the patient tracking device has a distal end; and a connector configured to connect the patient tracking device across the drape, the connector including a first connector body configured to couple to the proximal end of the base of the patient tracking device and a second connector body configured to couple to the distal end of the head of the patient tracking device, wherein the first connector body is configured to connect to the second connector body, wherein the drape is positioned between the first connector body and the second connector body.

20. A connector for use in connecting tracking devices across a drape, the connector comprising: The connector includes: a first connector body configured to couple to a base of a patient tracking device, the base of the patient tracking device configured to be attached to a patient, and the first connector body defining a face configured to contact a first side of a drape for covering the patient; and a second connector body configured to couple to a head of the patient tracking device, the head of the patient tracking device carrying at least one tracking marker, the second connector body defining a face configured to contact a second side of the drape, wherein the face of the first connector body is configured to connect to the face of the second connector body, wherein the drape is positioned between the first connector body and the second connector body.

21. The connector of claim 20, wherein, wherein the first connector body includes a first magnet, the second connector body includes a second magnet, and the first connector body is configured to magnetically attach to the second connector body.

22. The connector of claim 21, wherein, wherein: the first magnet is positioned at a general geometric center of the first connector body; and the second magnet is positioned at a general geometric center of the second connector body.

23. The connector of any one of claims 20-22, wherein, wherein the face of the first connector body has a shape that is complementary to the face of the second connector body.

24. The connector of claim 23, wherein, wherein the face of the first connector body and the face of the second connector body are each flat.

25. The connector of claim 23, wherein, wherein the face of the first connector body and the face of the second connector body are each non-flat, such that drape material bends within different planes extending through the connector when the drape is positioned between the first connector body and the second connector body.

26. The connector of any one of claims 20-23 and 25, wherein, wherein: the face of the first connector body includes one or more protrusions and / or recesses; and the face of the second connector body includes one or more complementary recesses and / or protrusions configured to match the one or more protrusions and / or recesses defined on the face of the first connector body.

27. The connector of claim 26, wherein, wherein: the face of the first connector body includes a plurality of alternating protrusions and recesses; and the face of the second connector body includes a plurality of complementary recesses and protrusions configured to match the alternating protrusions and recesses of the first connector body.

28. The connector of any one of claims 20-27, wherein, wherein the first connector body is configured to connect to the second connector body, wherein the first connector body is rotationally fixed relative to the second connector body.

29. The connector of claim 28, wherein, wherein: the first connector body includes a first set of magnets, wherein at least one magnet of the first set of magnets has a different polarity than at least one other magnet of the first set of magnets; the second connector body includes a second set of magnets, wherein at least one magnet of the second set of magnets has a different polarity than at least one other magnet of the second set of magnets; and the first connector body is configured to connect to the second connector body, wherein the first connector body is rotationally aligned with the second connector body such that the first set of magnets magnetically couples to the second set of magnets.

30. A drape system characterized by, The drape system includes: a surgical site recognition system configured to three-dimensionally track a position of a tracking marker attached to a patient during a surgical procedure; a drape configured to be placed over at least a portion of the patient, the drape having a first side configured to face the patient and a second side opposite the first surface; and a connector configured to connect a patient tracking device across the drape, the connector including a first connector body and a second connector body, the first connector body configured to couple to a proximal end of a base of the patient tracking device, the second connector body configured to couple to a distal end of a head of the patient tracking device, wherein the first connector body is configured to connect to the second connector body, wherein the drape is positioned between the first connector body and the second connector body.

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