A device for delivering topical therapies, a method for controlling the device and a sterile module for the device

Abstract

A device (100) for delivering therapies, e.g. liquid therapies such as bio-material liquids, and a method for controlling the device, wherein the device comprises means for delivering at least one therapy to an application surface; at least one motion sensor, such as an accelerometer and / or a gyroscope, for providing information relating to the motion and the pose of the device; at least one environmental sensor (110) for observing the application surface and providing information for an application surface model; a visual projection unit (120) for providing user feedback to a user of the device; and at least one control unit (130) configured to control the means for delivering the at least one therapy based on information related to the motion and the pose of the device, a therapy delivery model, and an application surface model.

Description

[0001] A DEVICE FOR DELIVERING TOPICAL THERAPIES, A METHOD FOR CONTROLLING

[0002] THE DEVICE AND A STERILE MODULE FOR THE DEVICE

[0003] 5 TECHNICAL FIELD

[0004] The invention concerns a device for delivering therapies, e.g. liquid therapies such as bio-material liquids, a method for controlling the device for delivering therapies and a sterile module for the device for delivering therapies. Especially the invention concerns the invention claimed in the independent claims.

[0005] BACKGROUND

[0006] Dose-adjusted and spatially controlled topical delivery of agents and mixtures, such as small molecule or biological advanced therapeutics in their administration vehicle, to the surface of an organ, such as skin, is challenging.

[0007] 15 Especially when treating larger tissue defects or areas such as wounded surfaces and tissues, or when applying to irregular volumetric defects, such as open chronic wounds. Options include 3D printing / delivery, gel-spreading and spray-on delivery.

[0008] All these delivery types have their specific advantages and shortcomings. One

[0009] 20 common issue limiting their applicability is the subjectivity and variability of accurate therapy administration and dosing. Particularly, in the case of complex advanced therapeutics, accuracy and dose-optimization are important and are deciding factors for the cost-efficacy of these highly expensive therapies. Subjective inaccuracies of administration manifest e.g. as too high or low administered dose, inaccurate placing or movement of an applicator instrument, or in e.g. the case of a gel, too thick or thin layer or too high or low volume of e.g. gel spread or applied. Movement inaccuracies manifest, for example, as the applicator’s inaccurate speed to or distance from the surface as well as lack of dynamic control of force or speed of application.

[0010] 30 Despite a learning curve and personal improvement after several repeated administrations, in current administration tools there is no data- or real-time- information-driven feedback to verify, in real-time, the success or failure of therapy administration. Robotic tools can be envisioned, but they are usually of high complexity to be installed and utilized in a crowded, busy operating room environment. Moreover, robotic tools also require real-time feedback for operation, thus the requirements of accuracy, operator feedback, and quality assurance remain unaddressed.

[0011] Thus, there is a need for an easy to use and reliable device which is able to solve the above-mentioned problems.

[0012] SUMMARY

[0013] The following presents a simplified summary in order to provide basic understanding of some aspects of various invention embodiments. The summary is not an extensive overview of the invention. It is neither intended to identify key or critical elements of the invention nor to delineate the scope of the invention. The following summary merely presents some concepts of the invention in a simplified form as a prelude to a more detailed description of exemplifying embodiments of the invention.

[0014] An objective of the invention is to present a topical therapy delivery device. Another objective of the invention is to present a sterile module for the topical therapy delivery device and a method, a computer program and a computer readable medium comprising the computer program for controlling a device for delivering therapies.

[0015] The objectives of the invention are reached by a device for delivering therapies, e.g. liquid therapies such as bio-material liquids, as defined by the respective independent claims.

[0016] According to a first aspect, a device for delivering therapies, e.g. liquid therapies such as bio-material liquids, is provided, wherein the device comprises means for delivering at least one therapy to an application surface; at least one motion sensor, such as an accelerometer and / or a gyroscope, for providing information relating to the motion and the pose of the device; at least one environmental sensor for observing the application surface and providing information for an application surface model; a visual projection unit for providing user feedback to a user of the device; and at least one control unit configured to control the means for delivering the at least one therapy based on information related to the motion and the pose of the device, a therapy delivery model, and the application surface model.

[0017] In one embodiment of the invention, the device may be a hand-held device.

[0018] In one embodiment of the invention, the device may further comprise at least one physical control means, such as a button, configured to provide a further signal for controlling the means for delivering at least one therapy.

[0019] In one embodiment of the invention, the at least one environmental sensor may comprise at least one of the following: a camera, a stereo camera, a time-of- flight depth camera, a lidar, a time-of-flight sensor.

[0020] In one embodiment of the invention, the user feedback may comprise visual feedback, haptic feedback, tactile feedback, and / or audio feedback.

[0021] In one embodiment of the invention, the at least one control unit may further be configured to control the user feedback.

[0022] In one embodiment of the invention, the visual projection unit may be configured to provide the user of the device visual feedback by projecting a visual signal on the application surface, wherein the application surface is a surface where the at least one therapy is being or will be delivered.

[0023] In one embodiment of the invention, the at least one control unit may be configured to control the delivery of the at least one therapy and the user feedback based on the current and historical behaviour of a user of the device.

[0024] In one embodiment of the invention, the user feedback may be configured to inform the user of the device the device state, the distribution of the dosage of the at least one therapy on the application surface and / or instructions for the user of the device for controlling the motion and / or pose of the device.

[0025] In one embodiment of the invention, the device, the control unit and / or a further computational unit may be configured to generate and / or modify the therapy delivery model based on an information provided by the at least one environmental sensor. In one embodiment of the invention, the device, the control unit and / or a / the further computational unit may be configured to generate and / or modify the application surface model of the application surface based on an information provided by the at least one environmental sensor.

[0026] In one embodiment of the invention, the user feedback may be output from the device for presenting the user feedback on an external visualization unit, wherein the user feedback may include information provided by the at least one environmental sensor and / or the at least one motion sensor.

[0027] In one embodiment of the invention, the means for delivering the at least one therapy to an application surface may comprise a motorized mechanism, at least one pressure delivery mechanism, at least one volume for the at least one therapy, and a nozzle, wherein the motorized mechanism comprises at least one motor, wherein the at least one motor is coupled to the at least one pressure delivery mechanism, wherein the at least one pressure delivery mechanism is configured to change the volume of the at least one volume, wherein the nozzle is configured to provide the delivery of the at least one therapy of the at least one volume when the volume of the at least one volume is reduced via the at least one pressure delivery mechanism by controlling the at least one motor.

[0028] In one embodiment of the invention, the at least one volume for the at least one therapy and the nozzle may be detachable from the device and / or interchangeable to a further at least one volume for the at least one therapy and to a further nozzle, respectively.

[0029] In one embodiment of the invention, the at least one volume for the at least one therapy may be a syringe.

[0030] In one embodiment of the invention, the device may further comprise at least one input configured to be attached to a pressurized gaseous substance, such as air, output and at least one internal channel for delivering the gaseous substance to the nozzle.

[0031] In one embodiment of the invention, the at least one therapy may be delivered on the application surface via a / the nozzle that is configured to provide the at least one therapy in a form of spray to the application surface. In one embodiment of the invention, the motorized mechanism further may comprise a second at least one pressure delivery mechanism, wherein the at least one volume for the at least one therapy, the nozzle, and the second at least one pressure delivery mechanism are arranged to a sterile module, wherein the sterile module is configured to be removably attached and locked to the device, wherein the second at least one pressure delivery mechanism is configured to be coupled to the motor via the at least one pressure delivery mechanism, wherein a sterile seal is configured to form, when the sterile module is removably attached and locked to the device, between the sterile module and the device and / or between the at least one pressure delivery mechanism and the second at least one pressure delivery mechanism.

[0032] In one embodiment of the invention, the sterile module may be configured to be disposable or sterilizable, e.g. through autoclaving.

[0033] In one embodiment of the invention, the sterile module attachable to the device may further comprise at least one holder for the at least one volume for the at least one therapy, wherein each of the at least one holder is configured to hold one of the at least one volume, wherein the volume of the at least one volume is changeable in a controlled manner with the motorized mechanism, wherein the at least one therapy is configured to be delivered to the application surface when the volume of the at least one volume is reduced.

[0034] In one embodiment of the invention, the device may further comprise a sterile cover, wherein the sterile cover is configured to provide controlling means for controlling the means for delivering at least one therapy and to contain at least one window for the sensors and the user feedback of the device, wherein the sterile cover is configured to form a sterile seal with the sterile module so that only the sterile module and the sterile cover form the outer surface of the device, wherein the sterile cover is disposable or sterilizable.

[0035] According to a second aspect, a sterile module configured to be removably attached and locked to a device for delivering therapies is provided, wherein the sterile module comprises at least one volume for at least one therapy, a nozzle, and at least one pressure delivery mechanism, wherein the at least one pressure delivery mechanism is configured to be coupled to a motor of the device via at least one pressure delivery mechanism of the device, wherein a sterile seal is configured to form between the sterile module and the device and between the at least one pressure delivery mechanism and the further at least one pressure delivery mechanism when the sterile module is removably attached and locked to the device.

[0036] In one embodiment of the invention, the at least one volume for the at least one therapy and the nozzle may be detachable from the device and / or interchangeable to a further at least one volume for the at least one therapy and to a further nozzle, respectively.

[0037] In one embodiment of the invention, the sterile module may be configured to form a sterile seal with a sterile cover, wherein the sterile module and the sterile cover are configured to form, when the sterile seal between the sterile module and the sterile cover have been formed, the outer surface of the device for delivering therapies.

[0038] According to third aspect, a method for controlling a device for delivering therapies is provided, wherein the device comprises means for delivering at least one therapy to an application surface, at least one motion sensor providing information relating to the motion and the pose of the device, at least one environmental sensor for observing the application surface, and a visual projection unit for providing user feedback to a user of the device, wherein the method comprises: controlling the means for delivering the at least one therapy based on information related to the motion and the pose of the device, a therapy delivery model, and an application surface model; and / or controlling visual user feedback provided to a user based on information related to the motion and the pose of the device, the therapy delivery model, and the application surface model.

[0039] In one embodiment of the invention, the method may further comprise monitoring changes in the application surface based on the application surface model and at least one earlier stored application surface model, wherein the at least one earlier stored application surface model has been stored during an earlier delivery of at least one therapy.

[0040] According to fourth aspect, a computer program comprising instructions is provided, which, when executed by a computer, e.g. the device, cause the computer to carry out the method according to the methods disclosed above. According to a fifth aspect, a computer-readable medium comprising the computer program disclosed above is provided.

[0041] The embodiments disclosed herein relating to a device may be freely changed to be embodiments relating to a method, and embodiments relating to a method may be changed to be embodiments relating to a device.

[0042] Various exemplifying and non-limiting embodiments of the invention both as to constructions and to methods of operation, together with additional objects and advantages thereof, will be best understood from the following description of specific exemplifying and non-limiting embodiments when read in connection with the accompanying drawings.

[0043] The verbs “to comprise” and “to include” are used in this document as open limitations that neither exclude nor require the existence of unrecited features. The features recited in dependent claims are mutually freely combinable unless otherwise explicitly stated. Furthermore, it is to be understood that the use of “a” or “an”, i.e. a singular form, throughout this document does not exclude a plurality.

[0044] BRIEF DESCRIPTION OF FIGURES

[0045] The embodiments of the invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings.

[0046] Figure 1 illustrates schematically an example embodiment of a topical therapy delivery device.

[0047] Figure 2a presents an example embodiment of a topical therapy delivery device.

[0048] Figures 2b to 2g present an illustration of an application surface and an example of the instructions provided by the visual projection unit with respect to the application surface as well as the delivery of the therapy and a visualization of the area the therapy has been delivered.

[0049] Figures 3a to 3c present an example embodiment of a delivery cone produced by the device and an example illustration of surfaces where the therapy has been delivered with unassisted delivery and intelligently optimized delivery methods.

[0050] Figure 4 illustrates schematically an example embodiment of different parts of a topical delivery device.

[0051] Figure 5 presents example operation of one embodiment of the invention relating to measurement and estimation of real time motion.

[0052] Figure 6 presents example operation of one embodiment of the invention.

[0053] Figure 7 example operation of one embodiment of the invention relating to different modules which can be utilized by the one embodiment of the invention.

[0054] Figure 8 presents example operation of one embodiment of the invention relating to a global long-term model.

[0055] DESCRIPTION OF EXEMPLIFYING EMBODIMENTS

[0056] The Figure 1 illustrates schematically an example of a topical therapy delivery device 100, i.e. a device for delivering therapies, e.g. liquid therapies such as bio-material liquids. The device comprises means for delivering at least one therapy to an application surface, at least one motion sensor, such as an accelerometer and / or gyroscope, at least one environmental sensor 110, a visual projection unit 120, and at least one control unit 130.

[0057] The means for delivering at least one therapy to the application surface may comprise motorized mechanism providing pressure via at least one pressure delivery mechanism 140, 142, 144 to a volume 150 that holds a topical therapy, i.e. at least one therapy. The pressure applied to the volume causes the at least one therapy to be delivered on the application surface via a nozzle 152. The application surface is the surface where the at least one therapy is or will be applied and delivered as a topical therapy.

[0058] In one embodiment of the invention the at least one pressure delivery mechanism may be a lead screw 142, which lead screw is arranged in the device so that the motorized mechanism is configured to rotate the lead screw. In order to deliver the pressure via the lead screw to the volume 150 that holds the therapy, a linear slider 140 may be arranged between the lead screw and the volume. The linear slider may comprise multiple parts or some parts of the linear slider may form part of the inner surface of the volume. The linear slider may be detachable from the lead screw as well as from the volume.

[0059] The at least one motion sensor of the device is configured to provide information relating to the motion and the pose of the device. The motion sensor can provide for example real-time data. The motion data may comprise positional information and / or velocity information. The motion sensor may provide other real-time motion related data as well.

[0060] The device may comprise multiple motion sensors. For example, the first motion sensor can be an accelerometer or a gyroscope and a second motion sensor can be same sensor type or different sensor type as the first motion sensor. It is also possible that one sensor comprises the functionalities of multiple sensors, i.e. having multiple sensors in an inertial measurement unit.

[0061] The information of the at least one motion sensor may be used for estimating the real-time motion and the pose of the device. The real-time motion may also be estimated using an environmental sensor.

[0062] The at least one environmental sensor 110 in the device may be a camera, a stereo camera, a time-of-flight depth camera, a lidar, a time-of-flight sensor, or other suitable sensor for observing the application surface.

[0063] The information of the at least one environmental sensor 110 is used for generating and / or updating an application surface model. The application surface model may be input to the device and updating the model may be performed using the environmental sensor information on the device. The device may also be able to generate the application surface model using information provided by the at least one environmental sensor.

[0064] The environmental sensor information may also be used for observing the application of the at least one therapy on the application surface. In such scenario the information extracted from the sensor information may comprise either thickness of the layer applied on the application surface, only a binary information whether the at least one therapy has been applied on the application surface or not, or an information whether the thickness of the applied layer exceeds predetermined one or multiple layer thicknesses. The layer thickness may be estimated using a therapy delivery model that may comprise the therapy delivery distribution for the therapy being delivered. In addition, the therapy delivery model may be combined with the environmental sensor information and / or information from other models, such as the application surface model.

[0065] The at least one control unit 130 of the device may be configured to control the means for delivering the at least one therapy based on information related to the motion and the pose of the device, a therapy delivery model, and an application surface model. The at least one control unit can be configured to provide a control information or a signal related to a control information so that the delivery of the therapy is being performed. The control information may, but is not limited to, be one or more of the following: an information describing the speed of the applying of the therapy, pressure needed for the application of therapy, rotational speed of the motorized mechanism, power of the motorized mechanism. The signal related to the control information may be an analogue driving signal for a motor 160 of the motorized mechanism, such as voltage or power.

[0066] The at least one control unit may take as an input also other information than the information related to the at least one motion sensor and the at least one environmental sensor of the device, such as information collected by one or multiple external sensors. The external sensors can be, e.g., environmental sensors.

[0067] In a further example embodiment of the invention, the device may comprise two or more control units 130 and two or more at least one volumes 150 for the at least one therapy, wherein each of the control units 130 are configured to control the motorized mechanism related to each volume 150 for the at least one therapy, respectively.

[0068] In an example embodiment of the invention the control unit 130 is a motor controlling unit configured to control the operation of the motor 160 in the motorized mechanism.

[0069] According to an example embodiment of the invention, the device is a hand-held device. However, the device may also be controlled through an external device, such as a computer, or the device may part of robotized solution wherein the device is controlled fully automatically or wherein the robotized solution may be controlled fully using external controllers by the user. The device may also have at least one physical control means, such as a button. The at least one physical control means 170 may be configured to provide a controlling signal for starting the delivery of the at least on therapy. The at least one physical control means 170 may be an ON / OFF latch or switch type button, but it may also be a button where the amount of the delivery is a function, e.g. linearly, of distance how far the button has been pushed.

[0070] In an example embodiment of the invention, the device may comprise more than one physical control means 170.

[0071] According to an example embodiment of the invention, the visual projection unit 120 may provide visual feedback to the user of the device. The visual feedback may be projected on the application surface using the visual projection unit. The visual projection unit may comprise different kind of light patterns that guide the user to move the device for more optimal delivery of the at least one therapy. One example a topical therapy delivery device an example of the instructions provided by a visual projection unit are presented in Figures 2a-g.

[0072] Figure 2a presents an example embodiment of the topical therapy device, i.e. the device for delivering therapies. The Figure 2a illustrates a device comprising a motorized spraying system 410, i.e. a motorized delivery mechanism, a syringe with therapeutic materials 412, i.e. at least one volume for the at least one therapy, switch and / or manual controller 414, i.e. physical controlling means, automatic flow control 416, motion tracking sensors 418, i.e. at least one environmental sensor and / or at least one motion sensor, and visual projection system 420. The device may also comprise inputs 422 for power and air supplies. The Figure 2a illustrates also the therapeutic material spray cone 424 and the visual projection cone close to the device.

[0073] Figures 2b and 2c present example embodiments of the invention of the visual projections on the application surface and of indications for the user for moving and correcting the location and pose of the device before delivering the therapy. The instructions for the pose and location correction may be arrows or other visual cues and may be visually different from the other indications. The direction of the arrow on the figures is only for illustrative purposes.

[0074] Figure 2d illustrates an example embodiment of the invention of moving the device to a correct position when the delivery of the therapy is about to start. The direction of the arrow on the figure is only for illustrative purposes. Figure 2e presents an example embodiment of the invention of the delivery cone of the therapy, i.e. the spray cone, and an area where the therapy has been delivered as well as an indication for the user to control the device. The direction of the arrow on the figure is only for illustrative purposes.

[0075] Figure 2f further illustrates an example embodiment of the invention wherein the area the therapy has been already delivered may be outside of the projection surface. The direction of the arrow on the figure is only for illustrative purposes.

[0076] Figure 2g presents an example embodiment of the invention wherein the delivery of the therapy has been stopped.

[0077] In an example embodiment of the invention, the visual projection unit may provide information to an external visualization unit or device. Such external visualization unit or device may be a computer or VR / AR glasses. In case an external device is used for the visual feedback, the visual projection may be projected on a virtual application surface and thus there would not be need for visual projection on the physical application surface. The projection on the virtual application surface may also comprise information relating to the therapy delivery model, application surface model or other information provided by the device.

[0078] In one embodiment of the invention the user feedback may also comprise one of the following: haptic, audio, or tactile feedback.

[0079] According to an example embodiment of the invention, the control unit may be configured to control the visual projection unit. Overall, all the units, such as control unit, visual projection unit, and computational unit, relating to the invention may be embodied in one unit or each unit may be a separate independent unit. Also, all the combinations of dividing N number of units in 1 to N different units are possible.

[0080] In an example embodiment of the invention, the therapy delivery model is a spray model. This means that in this embodiment the therapy delivery is performed by spraying.

[0081] Figures 3a to 3c present an example embodiment of a delivery cone 310 produced by the device and an example illustration of surfaces where the therapy has been delivered with unassisted delivery and intelligently optimized delivery methods. Figure 3b presents the situation 320, 325 where the spraying has been unassisted and controlled only by a user and the Fig. 3c presents a situation 330, 335 in which the spray is intelligently optimized, and the spraying is assisted by a user. The advantage of the intelligently optimized delivery method is clearly visible in the representation. When the user of the device is instructed via the visual projection unit to move the delivery of the therapy on the areas where the amount of therapy is insufficient as well as avoid areas where sufficient amount of therapy has been applied, the application surface is more evenly covered with the therapy.

[0082] According to an example embodiment of the invention, the control unit may be configured to control the delivery of the at least one therapy and the user feedback based on the current and historical behaviour of the user of the device. The control unit may be configured to learn from individual behaviour of the user to control the delivery of the at least one therapy on the application surface as well as use the current and historical behaviour of the user to estimate the user feedback to be provided. For example, the device could skip some instructions if a certain pattern in the device movement is observed.

[0083] According to an example embodiment of the invention, the device may comprise a further computational unit. The further computational unit may be configured to generate and / or modify the application surface model based on information provided by the at least one environmental sensor.

[0084] The further computational unit may be configured to generate and / or modify the therapy delivery model based on information provided by the at least one environmental sensor. In addition the therapy delivery model may be configured to generate and / or modify the therapy delivery model based on other information comprising one or more of the following: the viscosity of the at least one therapy, properties of the nozzle attached to the device, amount of therapy to be delivered on the application surface, amount of therapy left in the volume for the at least one therapy, distance from the nozzle to the application surface, the application surface model.

[0085] In one example embodiment of the invention, the device may comprise two different parts that can be attached and detached by the user, i.e. removably attached, as well as secured with each other in a manner that the parts do not detach without the purposefully doing so, i.e. locked. Of the two different parts, the so called second part, i.e. sterile module, comprises parts that are configured to be sterilizable or disposable. The parts in the sterile module comprise the following: the at least one volume for the at least one therapy, the nozzle, and a second at least one pressure delivery mechanism. Parts of the device not arranged in the sterile module are configured to be arranged in the main body of the device. The main body may comprise more than one module comprising the parts not arranged in the sterile module. One example of this kind of solution is presented in Figure 4.

[0086] The Figure 4 illustrates an example embodiment of the invention of the main body 410 of the device. The main body 410 of the device may comprise a motor 411 , at least one pressure delivery mechanism 412, attaching and locking mechanism 413, physical controlling means 414, visual projection unit 415, at least one environmental sensor 416, and / or at least one control unit 417.

[0087] The Figure 4 further illustrates an example embodiment of the invention of the sterile module 420, wherein the sterile module 420 may comprise second at least one pressure delivery mechanism 421 , 422, 423, attaching and locking mechanism 424, at least one holder 425, input for pressurized gaseous substance 427, such as air, and / or means for forming sterile seal 429. The Figure 4 further presents an example embodiment of the invention of an attachable and detachable nozzle 428 and / or at least one volume 426 for the therapy, i.e. a syringe.

[0088] The Figure 4 further illustrates an example embodiment of the sterile cover 430, wherein the sterile cover may comprise at least one window 434, physical controlling means 432, and / or an out layer 436 that forms with the sterile module a sterile seal and an outer surface of the device, encasing the main body of the device inside the surface formed by the sterile module and the sterile cover.

[0089] The sterilizing of the parts may be performed by autoclaving.

[0090] When the sterile module 420 is removably attached to the main body 410 of the device and locked to it, a sterile seal is configured to be formed between the sterile module and the main body of the device.

[0091] The sterile seal may be configured to be formed between the at least one pressure delivery mechanism 412 and the second at least one pressure delivery mechanism 421. The sterile seal between the at least one pressure delivery mechanism and the second at least one pressure delivery mechanism may mean that there is no route for unsterile substances to get from the outer layer of the sterile module to the at least one pressure delivery mechanism nor to the parts of the main body of the device in the vicinity of the at least on pressure delivery mechanism.

[0092] In one example embodiment of the invention, the nozzle 428 of the device may be interchangeable to a different nozzle. By changing the nozzle to different nozzle, a different therapy distribution can be achieved with the device. The nozzle 428 may also have at least one channel for providing pressurized gaseous substance, such as pressurized air, for forming therapy distribution in a form of spray to be output from the nozzle and on the application surface.

[0093] In some example embodiments of the invention, the nozzle 428 used in the delivery of the therapy is changed based on the properties of the therapy. The nozzle 428 may also detached from the device for cleaning the nozzle, i.e. the nozzle 428 is not fixed to the device.

[0094] According to an example embodiment of the invention, a sterile module configured to be removably attached and locked to a device for delivering therapies is disclosed, wherein the sterile module comprises at least one volume for at least one therapy, a nozzle, and at least one pressure delivery mechanism, wherein the at least one pressure delivery mechanism is configured to be coupled to a motor of the device via at least one pressure delivery mechanism of the device, wherein a sterile seal is configured to form between the sterile module and the device and between the at least one pressure delivery mechanism and the further at least one pressure delivery mechanism when the sterile module is removably attached and locked to the device. Features relating to the parts comprised in the sterile module disclosed relating to the device, may be combined with the embodiments relating only to the sterile module.

[0095] In a further example embodiment of the invention, the sterile module comprises at least one holder for the at least one volume for the at least one therapy instead of the at least one volume for the at least one therapy. The at least one holder is configured to hold the at least one volume for the therapy inserted to the holder, e.g., by the user of the device. The at least one volume for the at least one therapy is configured to be coupled directly or via one or multiple connections both to the nozzle and to the at least one pressure delivery mechanism. This enables the user to change the at least one volume of the at least one therapy to a different at least one volume of the at least one therapy.

[0096] In an example embodiment of the invention, the at least one volume for the at least one therapy is detachable from the sterile module. This means that the at least one volume can be detached from the device. It is also possible to change the at least one volume to another at least one volume.

[0097] According to a further example embodiment of the invention, the sterile module is configured to form a sterile seal with a sterile cover, wherein the sterile module and the sterile cover are configured to form, when the sterile seal between the sterile module and the sterile cover have been formed, the outer surface of the device for delivering therapies.

[0098] In one example embodiment of the invention, the sterile cover comprises at least one window, wherein the at least one window is transparent for the visual feedback and / or for the at least one environmental sensor. The sterile cover may be made fully of a transparent material for creating the window or there may be an aperture in the cover where the window material is placed. It is also possible that the window is not transparent to visible light.

[0099] In one example embodiment of the invention, the sterile cover comprises controlling means for receiving and passing on control instructions to a device the cover is covering. The controlling means may comprise a push button, a trigger, a flexible membrane, an electrical switch, an electrical wiring, a touch sensor and / or a magnetic switch.

[0100] According to a further example embodiment of the invention, the sterile module comprises at least one holder configured to hold the at least volume for the at least one therapy.

[0101] According to a further example embodiment of the invention, the sterile module comprises an input for pressurized gaseous substances, wherein the input is connected via at least one channel to the nozzle.

[0102] According to a further example embodiment of the invention, the at least one volume for the at least one therapy comprised in the sterile module may be a syringe. The syringe may be attached and / or detached from the sterile module. Figure 5 presents example operation of one embodiment of the invention relating to measurement and estimation of real time motion. The inertial measurement unit 510 acts as the at least one motion sensor in the example providing position data for estimating 520 the pose and motion, especially the motion at high speed. The estimated pose and motion are used for real-time estimation input to sensor fusion module 550. The depth camera 520, that acts as the at least one environmental sensor, provides depth / image data for calculating 540 pose and motion respective to the application surface. The calculated pose and motion with respective to the application surface are input as well to the sensor fusion module 550. The sensor fusion module 550 provides real-time motion data 560 for the device.

[0103] Figure 6 presents example operation of one embodiment of the invention relating to the generation of the application surface model. The operation is commenced after a pre-scan 610, wherein the surface to be scanned is prepared for the scanning, with manually scanning 620 the surface using the sensors in the device, especially the environmental sensors. From the scan information a surface model is created 630. The surface model 640 may be a 3D model, but also higher dimensions may be used in the model. Some of the example dimensions that may be included in the surface model in addition to the physical dimensions are color information at different wavelengths, healing procedure of the surface area based on the previous scanning, and severeness of a burn wound on the surface. Finally, an application surface model is output for the generation of the application surface model.

[0104] Figure 7 example operation of one embodiment of the invention relating to device control during the application which can be utilized by the one embodiment of the invention. In the application 710 control the user of the device, the operator, moves 712 the device near application surface. Based on the movement of the device and the application surface model, an estimation 714 of real-time pose and motion may be created. The estimation may also provide real-time motion data. If the pose and the motion are correct 716 it may be checked whether an automatic or manual delivery 718 is in use. In case only one of the automatic or manual delivery is enabled in the device, that delivery method is used. If the pose and motion were not correct, the delivery may be stopped, and operation of an indicator projection module 750 may be performed. In case of manual mode in use, it may be checked whether a trigger is pressed 720: if not the delivery may be stopped or if it is pressed the delivery may be controlled by the delivery module 770, i.e. the spray module. In case of automatic mode, the delivery is controlled by the delivery module 770. In case the delivery is stopped, when the trigger is not pressed, it may be checked whether the pose and the motion are correct, and the operation may be continued thereon. In addition, there may be a state projection module 760.

[0105] An example of the indicator projection module 750 according to one example embodiment of the invention is presented in Figure 7. The indicator projection module may comprise a learning model of the operator, i.e. the user, behaviour with regards to indicators. The learning model inputs may comprise real-time motion data, real-time indicator data, and / or operator indicator behavior. The learning model may provide as an output operator indicator behaviour. The indicator projection module may also comprise a model for behaviour aware projection of the indicator on surface for correcting directions, pose, distance and speed after the delivery is stopped if the pose and motion were not correct. This model may input the operator indicator behaviour and real-time motion data. The indicator projection module provides instructions for the user to control the movement of the device near application surface.

[0106] An example of the spray module 770, i.e. delivery module, according to one example embodiment of the invention is presented in Figure 7. The spray module may comprise models for application state estimator and for surface aware spray of application material to surface. The model for surface aware spray may be used when automatic mode is detected or the trigger is pressed. The model for the surface aware spray may input application surface model, real-time motion data, delivery model, and / or application state, and it may output delivery data. The model for the application state estimator may input delivery data, delivery model, and / or application surface model, and it may output application state.

[0107] An example of state projection module 760 according to one example embodiment of the invention is presented in Figure 7. The state projection module may comprise learning model of operator behaviour with regards to states and / or a model for behaviour aware projection of current application state. The learning model may input real-time motion data, operator state behaviour, real-time state projection data and / or application state, and it may output operator state behaviour. The model for behaviour aware projection may input operator state behaviour and / or application state, and it may output real-time state projection data and provide instructions for the operator to move the device near the application surface.

[0108] According to an example embodiment of the invention presented in Figure 7, the application surface model may be used for projection of surface boundary and properties for instructing the operator to move the device near application surface.

[0109] According to one example embodiment of the invention presented in Figure 7, a global long-term model 780 may output operator behaviour and surface aware spray for the different models in the state projection module, delivery module, and indicator projection module to use as an input. The global long-term model may provide input for the estimation of real-time motion and pose, as well.

[0110] Figure 8 presents example operation of one embodiment of the invention relating to a global long-term model 780, 880. The global long-term model may provide properties as an input for different application cases at different sites 810, 812, 814, i.e. locations. This also means that the global term model may use different application cases from various locations, such as hospitals or other places where the delivery of the therapy may be performed to learn of different behaviours of different users. The properties provided as an input may comprise operator state behaviour, application surface model, real-time indicator data, delivery model, delivery data, application state, real-time motion data, real-time state projection data, operator indicator behaviour and / or validated application results. The global model may take properties as an input and / or output properties to be used as inputs in the application.

[0111] According to an example embodiment of the invention the means for delivering the at least one therapy using device according to one or multiple embodiments disclosed herein is controlled based on the information related to the motion and pose of the device, a therapy delivery model, and an application surface model. The controlling may be preferably performed programmatically, but a mechanical or other type of controlling method is also possible.

[0112] According to an example embodiment of the invention the visual user feedback using device according to one or multiple embodiments disclosed herein is controlled based on the information related to the motion and the pose of the device, the therapy delivery model, and the application surface model. The controlling may be preferably performed programmatically, but a mechanical or other type of controlling method is also possible.

[0113] According to an example embodiment of the invention the application surface models may be stored and different application surface models calculated during different deliveries of at least one therapy may be compared. The comparison of the different application surface models may be performed for monitoring the changes in the application surface based on the different application surface models. For example, an application surface model taken during the lates delivery of the at least one therapy may be compared to at least on earlier stored application surface model. The comparison may provide information based on the healing of the application surface.

[0114] According to an exemplary embodiment of the invention, the invention provides a tool and a software solution that can deliver in a controlled manner advanced therapies, while providing operator feedback as reflected on the application surface such as the surface of the wound, for example stem cells and biomaterials, separately or as a combination onto the wounds and skin surfaces. The intelligent sprayer can visually guide the operator during the application procedure of the therapy, such that the operator can deposit e.g. an even layer (or any desired thickness profile) of the therapy on the wound surface at desired locations. Such controllability, feedback, and programmability are not found in existing devices, which can merely apply materials upon the experience of the operator - leading to poor control of the therapy, inaccurate dosing, and eventually, for example in the case of wounds, an erratic healing process.

[0115] The intelligent sprayer consists of a motorized spraying mechanism and related control electronics, motion sensors such accelerometers, gyroscopes for multiple degrees-of-freedom, camera and / or other environmental sensors, a visual projection unit and other visual, audio and vibration transducers for user feedback, computational units and software, mechanical switches for user inputs such as on / off triggers and spraying triggers. Operations can be controlled in an integrated manner or through wired or wireless communication link to external computer. Power source is through a cable or a battery.

[0116] The automated, motorized spraying mechanism enables precise control over the application of therapy to wounds and skin surfaces. The sensor-based motion tracking system enables detecting movement and adjust the spray application accordingly. Sensor-feedback and / or model-based spray estimation algorithms take into consideration factors such as wound size and morphology. Therefore, the device will ensure that the optimal amount of therapy is administered in an optimized pattern to each wound, thereby maximizing therapeutic outcomes. The software that will power the estimation and control algorithm will be situated either on the sprayer or externally on a computer or both, depending on the application requirements.

[0117] The primary visual feedback projected on the application surface includes information regarding the application instrument’s angle, movement speed, and distance relative to the tissue surface, the real-time estimation of the amount of spray, and indicator / warning of areas requiring particular attention. Other feedback such as audio, vibration and other visual display on the spray device or external assistive devices will enhance the primary visual feedback for warning of unfavourable condition such as speed out of range, position out of boundary, spraying ceased, and other situation require the operator’s attention.

[0118] The intelligent sprayer can work in different modes, e.g.:

[0119] - Guided manual mode: The intelligent sprayer visually guides the operator during the application of cell therapy or other biomaterials, where the operator is responsible for the spray.

[0120] - Semi-automatic mode: The intelligent sprayer guides the operator to position the sprayer correctly, and automatically controls the spraying process when the parameters are good. The operator is only responsible of start and stopping the procedure and move the sprayer under the instruction of the intelligent sprayer.

[0121] Additionally, all motion and application data will be recorded for analysis of the application after the procedure. Surface and volumetric analysis and artificial intelligence information derived from multiple successful applications combined with clinical outcome evaluations can provide additional levels of feedback.

[0122] The spray device will also take into account the needs of uneven wounds and skin surfaces, e.g., in many chronic wounds by employing models the surface generated online or offline. The application of spray will be at a close distance based on the 3D morphology of the wound surface. Additionally, the intelligent spray device or the spray head can be mounted on a 3 or 6 degrees of freedoms robotic structure to allow autonomous position and pose control of the spray position and direction.

[0123] Example therapies, e.g. liquid therapies such as bio-material liquids, to be used with the device according to the invention comprise the different biologicals and materials, but is not limited to these, disclosed in the following paragraphs. In addition, examples of different embodiments of the use of the therapies are disclosed as well. Disclosed biologicals and other materials may be used each independently or in different combinations with other, disclosed and / or undisclosed biologicals and other materials.

[0124] Hydrogels or other flowable materials or biomaterials or their components such as fibrinogen / thrombin or fibrin-based biomaterials, cellulose-based hydrogels for example bacterial or plant-derived cellulose or nanocellulose, hydroxyapatite, chitosan- and chitinbased biomaterials, silk, gelatin, flowable biopolymers such as hydrated biopolymers using xylans.

[0125] Recombinant proteins or their fragments or protein mixtures such as growth factors, cytokines, cytokine antagonists. Protein aggregates or hybrid recombinant proteins.

[0126] Cell-derived or engineered vesicles or micro- or nanoparticles.

[0127] Factors or compounds with antimicrobial activity such as antimicrobial peptides and their derivatives or organic or inorganic particles such as silver or nanosilver particles.

[0128] Intact cells such as skin cells (e.g. keratinocytes, fibroblasts, endothelial cells), immune cells (such as monocytes, modified, genetically engineered or native T- cells, B-cells, NK-cells), CAR-T cells , NK CAR cells, cell suspensions or clusters (mixed or single cell-type), organoids or cell aggregates, tissue pieces or micrografts; subcellular particles such as mitochondria or nuclei; stem or precursor cells such as induced pluripotent stem cells / embryonic stem cells or their differentiated derivatives, mesenchymal stem cells, endothelial progenitor cells; other progenitor cells such as myoblasts. Stimulus-responsive cell-based systems or compositions.

[0129] Genetically engineered or native bacteria such as probiotic bacteria; prebiotic compounds and formulations. Microorganism-based or -derived factors, compounds, or compositions such as bacterial, viral, fungal, plant, algae-based or derived compositions, components or derived factors.

[0130] Active compounds such as those with antimicrobial activity, cell proliferation or migration stimulating activity, anti-fibrotic factors or compounds.

[0131] Factors, compounds, proteins, fragments or others with angiogenic, anti- angiogenic, anti-inflammatory, or hemostatic activity.

[0132] Compounds with active properties such as antioxidant compounds, oxygen or other gas donor compounds, oxygen scavenging compounds, reactive oxygen species donor / scavenging compounds. Chemical compounds, drugs or prodrugs, activatable molecules, compounds, external stimulus modifiable factors, molecules, cells or particles such as light-, temperature- or ultrasound- activated / cleaved / polymerizing factors, compounds, hydrogels, cells or particles.

[0133] Vitamins, inorganic compounds or mixtures. Organic or inorganic chemicals such as acids, bases, various pH buffer compositions such as bicarbonate solutions. Factors, compounds or others with antiseptic, antibiotic, antiviral, antifungal or antiparasitic activities.

[0134] Natural or recombinant molecules such as proteins (such as extracellular proteins, laminins, collagen), peptides, protein fragments, lipids, carbohydrates, various natural or artificial polymers or any length.

[0135] Cell culture supernatants, conditioned media, tissue incubation media, or components thereof such as isolated vesicles, proteins, lipids, RNAs or DNAs of any length.

[0136] Small molecule compounds, drugs, drug-like compounds, various compounds or extracts such as plant-derived extracts; antibodies or recombinant proteins such as recombinant monoclonal antibodies, antibody fragments such as Fab fragments, recombinant proteins such as recombinant receptor antagonists or agonists, neutralizing or function-blocking antibodies.

[0137] Lipids, polymers, carbohydrates / polysaccharides etc. Hormones, hormone derivatives, hormone analogues. Autologous, allogeneic or xenogenic cells, tissues or their fragments or derived factors, extracellular materials, or matrix-derived components.

[0138] Viral vectors or particles such as adeno-associated viral vectors for nucleic acid e.g. RNA or DNA delivery. Bacteriophages or phages.

[0139] Nanoparticles or other formulations such as lipid nanoparticles used for RNA / DNA delivery.

[0140] Various compositions comprised of or containing agents such as metals, ceramics, plastics, glass, silicone, (poly)acrylates, (poly)urethanes, stainless steel, dacron, titanium, aluminium or similar materials.

[0141] Metal-based materials, polymer-based materials, ceramics-based materials, natural or synthetic materials, inorganic-based materials, organic-based (lipid, protein / peptide, carbohydrate, organic compounds or molecules), or hybrid materials.

[0142] Combinations, composites, polymers and other formulations (such as various types of delivery particles, pharmaceutical preparations, controlled-release preparations, biocomposites, nanoformulations, dynamic 4D or 5D formulations, shape-morphing systems etc) of the above or others. Various types of granulated materials, dry formulations, or suspensions of the above. Formulations with different or variable porosities, flow capacities, rheological properties, polymerization capacities or abilities, degradability or other properties modifiable by factors such as spray or extrusion administration, pressure, light, temperature, ultrasound.

[0143] According to an example embodiment of the invention, targeted tissue depths and some controlling related features are described in the following paragraphs. The different features disclosed in the following paragraphs may be or may not be combined with each other’s.

[0144] Subcutaneous tissue, highly variable, depends on amount of fat, roughly 2- 31 mm

[0145] Burn wounds are more planar with a larger surface area, whereas chronic wounds, decubitus ulcers / pressure ulcers are deeper and extend even to underlying muscle and bone. To achieve increased cost efficiency, maximize efficacy by controlling dosing / providing exactly the desired dose, providing the desired coverage considered optimal for the therapeutic (e.g. droplet delivery of keratinocytes to achieve high cell concentrations / aggregates in which the cells perform best for proliferation and migration at desired areas), optimizing the properties of therapeutics, reducing side effects, avoiding tolerance or resistance to the therapeutic, maximizing use and minimizing wastage, to achieve a predictable and consistent therapeutic effect, to improve patient compliance, to avoid adverse effects and maximizing therapeutic effects, and — for some therapeutics — minimizing absorption and thus systemic exposure.

[0146] According to an example embodiment of the invention, some features relating to user feedback of the device are described in the following paragraphs. The different features disclosed in the following paragraphs may be or may not be combined with each other’s.

[0147] The instrument uses visual signals projected on the application surfaces, such as wound and skin surface or other application surfaces. The visual signals can include graphic arrows that may vary with colour, frequency and shape / pattern that guiding the operate to act properly, e.g., apply more, or avoid certain area, to achieve the desired delivery of the application materials.

[0148] More rich signals, e.g., the estimated application amount in graphical manner can also be projected onto the surfaces.

[0149] The visual signal gives reflection on the human operators to operate according to his / her plan based on one’s expertise. However, the device will also learn the reaction / behaviour of the human operator based on its current and historical behaviour such that the device will optimize the visual signal (both indicators and progress display) in timeliness and types such that the application results are better.

[0150] IMU will give position data at high frequency and short time latency for motion estimation algorithms, such as Kalman filter or alike, where the motion of the device / operator can be known. Depth camera, such as stereo vision camera or Lidar, in combination of vision camera, will be used to provide the information of the application surface and estimate the relation between the application device and the surface and greater latency and smaller frequency then IMU. However, the information provided by the camera(s) will be more accurate and richer. So the motion of the device / operator will be estimated together using both or either techniques depending on the application cases / requirements and cost of the device.

[0151] Different nozzles required for different types of administration depending on desired area or volume coverage, type of product or material applied (e.g. solution, suspension, granule sizes, cell or aggregate size / volumes, cell or material sensitivity to pressure / shear stress, rheological properties, viscosity etc.), desired therapeutic product end-features (such as porosity, shape, droplet size etc.). This leads to requirements also to exert desired control over application distance, angle, movement speed, location and / or their (preprogrammed or manually controlled?) variations depending on desired outcome.

[0152] The surface aware spray application will use motor (step or DC servo) to control the spraying of application material, where the pressure will be initially constant (later can be controlled as well). The control of the spraying will at least be based on the spray model (derived in a dedicated study by varying the position, pose, distance, velocity and pushing velocity of the spray) and the application surface model (see the pre-scan diagram above).

[0153] According to an example embodiment of the invention, some features related to data feed optimization, especially relating to the use, generation and modifying of different models are disclosed in the following paragraphs. The different features disclosed in the following paragraphs may be or may not be combined with each others.

[0154] The spray will be surface and position aware, i.e., the spray power will be controlled based on the motion and pose of the device and the spray model and surface model, (see the spray module in the figure below)

[0155] First, the behaviour aware projection of indicators will learn how the human reacts to the indicator on the application surface, and improve the indicator timeliness and patterns to improve spray results, (the indicator projection module in the figure below).

[0156] Secondly, the behaviour aware project of application state will learn how the human reacts to the state display on the application surface, and improve the state display timeliness and patterns to improve spray results, (the state projection module in the figure below).) All data of each application case, including the spray model used in the application, the pre-scanned application surface model, and real-time application data, including the real-time motion data (position, pose, velocity, etc), real-time indicator data, the learnt operator indicator behaviour, the application data, the application state, the real-time spray projection data, operator state behaviour data will be recorded.

[0157] The case data will be collected together validated application results in terms of recovery time and recovery effectiveness.

[0158] The case data from each site will be collected together and uploaded to a central database (such as a cloud server) and machine learning methods will be applied to create global long-term model of operator behaviour and surface aware spray policies.

[0159] Those long-term models and policies will be available to each new application case as the base model for long-term improvement of the application results.

[0160] According to an example embodiment of the invention, the mode of the device can be switched. The method will also be extended to application different from spraying or other manual application of medical therapy, for example, using extrusion for application materials to surfaces. In such cases, the behaviour aware projection of indicators and surface and motion aware control of the extrusion will also be applicable.

Claims

CLAIMS1. A device for delivering therapies, e.g. liquid therapies such as biomaterial liquids, wherein the device comprises: means for delivering at least one therapy to an application surface; at least one motion sensor, such as an accelerometer and / or a gyroscope, for providing information relating to the motion and the pose of the device; at least one environmental sensor for observing the application surface and providing information for an application surface model; a visual projection unit for providing user feedback to a user of the device; and at least one control unit configured to control the means for delivering the at least one therapy based on information related to the motion and the pose of the device, a therapy delivery model, and the application surface model.

2. The device according to any of previous claims, wherein the device is a hand-held device.

3. The device according to any of previous claims, wherein the device further comprises at least one physical control means, such as a button, configured to provide a further signal for controlling the means for delivering at least one therapy.

4. The device according to any of previous claims, wherein the at least one environmental sensor comprises at least one of the following: a camera, a stereo camera, a time-of-flight depth camera, a lidar, a time-of-flight sensor.

5. The device according to any of previous claims, wherein the user feedback comprises visual feedback, haptic feedback, tactile feedback, and / or audio feedback.

6. The device according to any of previous claims, wherein the at least one control unit is further configured to control the user feedback.

7. The device according to any of previous claims, wherein the visual projection unit is configured to provide the user of the device visual feedback by projecting a visual signal on the application surface, wherein the application surface is a surface where the at least one therapy is being or will be delivered.

8. The device according to any of previous claims, wherein the at least one control unit is configured to control the delivery of the at least one therapy and the user feedback based on the current and historical behaviour of a user of the device.

9. The device according to any of previous claims, wherein the user feedback is configured to inform the user of the device the device state, the distribution of the dosage of the at least one therapy on the application surface and / or instructions for the user of the device for controlling the motion and / or pose of the device.

10. The device according to any of previous claims, wherein the device, the control unit and / or a further computational unit is configured to generate and / or modify the therapy delivery model based on an information provided by the at least one environmental sensor.

11. The device according to any of previous claims, wherein the device, the control unit and / or a / the further computational unit is configured to generate and / or modify the application surface model of the application surface based on an information provided by the at least one environmental sensor.

12. The device according to any of previous claims, wherein the user feedback is output from the device for presenting the user feedback on an external visualization unit, wherein the user feedback may include information provided by the at least one environmental sensor and / or the at least one motion sensor.

13. The device according to any of previous claims, wherein the means for delivering the at least one therapy to an application surface comprises a motorized mechanism, at least one pressure delivery mechanism, at least one volume for the at least one therapy, and a nozzle, wherein the motorized mechanism comprises at least one motor, wherein the at least one motor is coupled to the at least one pressure delivery mechanism, wherein the at least one pressure delivery mechanism is configured to change the volume of the atleast one volume, wherein the nozzle is configured to provide the delivery of the at least one therapy of the at least one volume when the volume of the at least one volume is reduced via the at least one pressure delivery mechanism by controlling the at least one motor.

14. The device according to claim 13, wherein the at least one volume for the at least one therapy and the nozzle are detachable from the device and / or interchangeable to a further at least one volume for the at least one therapy and to a further nozzle, respectively.

15. The device according to claims 13 to 14, wherein the at least one volume for the at least one therapy is a syringe.

16. The device according to any of previous claims, wherein the device further comprises at least one input configured to be attached to a pressurized gaseous substance, such as air, output and at least one internal channel for delivering the gaseous substance to the nozzle.

17. The device according to any of previous claims, wherein the at least one therapy is delivered on the application surface via a / the nozzle that is configured to provide the at least one therapy in a form of spray to the application surface.

18. The device according to any of claims 14 to 17, wherein the motorized mechanism further comprises a second at least one pressure delivery mechanism, wherein the at least one volume for the at least one therapy, the nozzle, and the second at least one pressure delivery mechanism are arranged to a sterile module, wherein the sterile module is configured to be removably attached and locked to the device, wherein the second at least one pressure delivery mechanism is configured to be coupled to the motor via the at least one pressure delivery mechanism, wherein a sterile seal is configured to form, when the sterile module is removably attached and locked to the device, between the sterile module and the device and / or between the at least one pressure delivery mechanism and the second at least one pressure delivery mechanism.

19. The device according to claim 18, wherein the sterile module is configured to be disposable or sterilizable, e.g. through autoclaving.

20. The device according any of claims 18 to 19, wherein the sterile module attachable to the device further comprises at least one holder for the at least one volume for the at least one therapy, wherein each of the at least one holder is configured to hold one of the at least one volume, wherein the volume of the at least one volume is changeable in a controlled manner with the motorized mechanism, wherein the at least one therapy is configured to be delivered to the application surface when the volume of the at least one volume is reduced.

21. The device according to any of claims 18 to 20, wherein the device further comprises a sterile cover, wherein the sterile cover is configured to provide controlling means for controlling the means for delivering at least one therapy and to contain at least one window for the sensors and the user feedback of the device, wherein the sterile cover is configured to form a sterile seal with the sterile module so that only the sterile module and the sterile cover form the outer surface of the device, wherein the sterile cover is disposable or sterilizable.

22. A sterile module configured to be removably attached and locked to a device for delivering therapies, wherein the sterile module comprises at least one volume for at least one therapy, a nozzle, and at least one pressure delivery mechanism, wherein the at least one pressure delivery mechanism is configured to be coupled to a motor of the device via at least one pressure delivery mechanism of the device, wherein a sterile seal is configured to form between the sterile module and the device and between the at least one pressure delivery mechanism and the further at least one pressure delivery mechanism when the sterile module is removably attached and locked to the device.

23. The sterile module according to claim 22, wherein the at least one volume for the at least one therapy and the nozzle are detachable from the device and / or interchangeable to a further at least one volume for the at least one therapy and to a further nozzle, respectively.

24. The sterile module according to any of claims 22 to 23, wherein the sterile module is configured to form a sterile seal with a sterile cover, wherein the sterile module and the sterile cover are configured to form, when the sterileseal between the sterile module and the sterile cover have been formed, the outer surface of the device for delivering therapies.

25. A method for controlling a device for delivering therapies, wherein the device comprises means for delivering at least one therapy to an application surface, at least one motion sensor providing information relating to the motion and the pose of the device, at least one environmental sensor for observing the application surface, and a visual projection unit for providing user feedback to a user of the device, wherein the method comprises:- controlling the means for delivering the at least one therapy based on information related to the motion and the pose of the device, a therapy delivery model, and an application surface model; and / or- controlling visual user feedback provided to a user based on information related to the motion and the pose of the device, the therapy delivery model, and the application surface model.

26. The method for controlling a device for delivering therapies according to claim 25, wherein the method further comprises:- monitoring changes in the application surface based on the application surface model and at least one earlier stored application surface model, wherein the at least one earlier stored application surface model has been stored during an earlier delivery of at least one therapy.

27. A computer program comprising instructions which, when executed by a computer, e.g. the device, cause the computer to carry out the method according to claim 25 or 26.

28. A computer-readable medium comprising the computer program according to claim 27.

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