A medical apparatus for facilitating carrying out reduction

Abstract

A medical apparatus (100) is disclosed, comprising at least one elongated element (1, 2, 3, 4) and at least one drive unit (15, 16). Each of the at least one elongated element (1, 2, 3, 4) is, at a first end (5, 7, 9, 11) of the elongated element, configured to be releasably coupled with at least one of the at least one drive unit (15, 16), such that each drive unit of the at least one drive unit (15, 16) is configured to be releasably coupled with at least one elongated element at the first end (5, 7, 9, 11) of the elongated element(s). Each drive unit of the at least one drive unit (15, 16) is controllable with respect to operation thereof and configured to, when the corresponding elongated element(s) is or are coupled with the drive unit, selectively cause controlled movement of at least one of the corresponding elongated element(s).

Description

[0001] A MEDICAL APPARATUS FOR FACILITATING CARRYING OUT REDUCTION

[0002] TECHNICAL FIELD

[0003] The present invention relates to a medical apparatus for facilitating carrying out reduction.

[0004] BACKGROUND

[0005] A bone in the body of a human or animal subject may lose continuity in part or completely as a result of high force impact or stress, which is known as a fracture. Such an event generally results in that the bone fractures into bone fragments which lose their normal anatomical positions due to displacement or angulation. In order for the bone to be able to heal without any resulting (e.g., permanent) deformity, the bone fragments must be positioned in relation to each other so as to assume, or substantially assume, their normal anatomical positions. Such positioning of bone fragments, which aims to restore the bone fragments back to their normal anatomical positions in relation to each other, is often referred to as reduction. Reduction may involve orthopedic surgery in which a reduction tool comprising two sets of pins may be utilized, with the sets of pins of the reduction tool being connected with each other by means of one or more rods or bars or the like. Considering an example where a bone in a human is fractured into two bone fragments, the sets of pins are inserted into the fractured bone on each side of the fracture, i.e., on the respective ones of the two bone fragments. Subsequent to fixing of the sets of pins into the bone fragments, the reduction tool may then, by means of a user (e.g., a surgeon) gripping the one or more rods or bars or the like interconnecting the sets of pins and moving one or more rods or bars or the like, be moved in such a way that the sets of pins are moved in relation to each other so as to bring the two bone fragments back to their normal anatomical positions. The process of reduction is usually carried out while the subject is under the effect of anesthetic medications as the process can be intensely painful. The accuracy of this process may be checked during and / or at the end of the process for example by means X-ray medical imaging. The reduction tool may be configured to permit fixing of the positions of the sets of pins in relation to each other once the two bone fragments have been brought back to their normal anatomical position, in order to allow for healing of the bone with the bone fragments in their normal anatomical positions.

[0006] SUMMARY

[0007] Carrying out reduction by means of a reduction tool as described in the foregoing may be relatively time-consuming and laborious for the user (e.g., a surgeon).

[0008] In view of the above, a concern of the present invention is to provide a medical apparatus by way of which reduction may be carried out more easily and / or faster compared to conventional ways of carrying out reduction, such as by means of a reduction tool as described in the foregoing.

[0009] To address at least one of this concern and other concerns, a medical apparatus in accordance with the independent claim is provided. Preferred embodiments are defined by the dependent claims.

[0010] According to an aspect of the present invention, a medical apparatus is provided. The medical apparatus comprises at least one elongated element and at least one drive unit. Each of the at least one elongated element is, at a first end of the elongated element, configured to be releasably coupled with at least one of the at least one drive unit, such that each drive unit of the at least one drive unit is configured to be releasably coupled with at least one elongated element at the first end of the elongated element(s).

[0011] Each of the at least one elongated element may be configured so as to be adapted or permitted to be engageable, at a second end of the elongated element, with a portion of a human or animal subject such that the elongated element at its second end becomes engagingly inserted into a part of bone or natural or artificial bone substitute of the human or animal subject within the said portion of the human or animal subject. An alternative way to describe this is that each of the at least one elongated element may be configured so as to be adapted or permitted to be engageable, at a second end of the elongated element, with a portion of a human or animal subject such that the elongated element at its second end is engagingly insertable into a part of bone or natural or artificial bone substitute of the human or animal subject within the said portion of the human or animal subject.

[0012] Each drive unit of the at least one drive unit is controllable with respect to operation thereof and configured to, when the corresponding elongated element(s) is or are coupled with the drive unit, selectively cause controlled movement of at least one of the corresponding elongated element(s). The medical apparatus may comprise a control unit configured to control operation of the at least one drive unit.

[0013] By each of the at least one elongated element being configured so as to be adapted to be engageable, at a second end of the elongated element, with a portion of a human or animal subject such that the elongated element at its second end becomes engagingly inserted into a part of bone or natural or artificial bone substitute of the human or animal subject within the said portion of the human or animal subject, the elongated element(s) may be suitable for use in orthopedic surgery to carry out reduction of a fractured bone, wherein the elongated element(s) are inserted into fragment(s) of bone in order to permit bringing the bone fragment(s) back to its or their normal anatomical positions. In order to further facilitate such use, each or any of the at least one elongated element may be at least in part made of a bioabsorbable material.

[0014] I n this regard, by means of each drive unit of the at least one drive unit being configured to be releasably coupled with at least one elongated element at the first end of the elongated element(s) and selectively cause controlled movement of at least one of the corresponding elongated element(s) when the corresponding elongated element(s) is or are coupled with the drive unit, the drive unit(s) can be controlled by means of the control unit to move the elongated element(s) so as to bring fragments of a fractured bone back to their normal anatomical positions. The accuracy or correctness of this process may be checked during and / or at the end of the process to move the elongated element(s) so as to bring fragments of a fractured bone back to their normal anatomical positions by means of a computed tomography scan and / or by another type of medical imaging technique. Each or any of the drive unit(s) may preferably be based on one or more motor drives designed to convert one or more forms of energy into mechanical energy. Such motor drive(s) may be based on mechanical, electromechanical, hydraulic, and / or electronic drives, and may hence be adjustable or variable speed drive(s). Each or any of the drive unit(s) may preferably be based on one or more types of robots or robotic arms, e.g., including a so-called delta robot or another type of parallel robot. Thereby, the controlled movement of at least one of the elongated element(s) effected by the drive unit(s) may for example be a combination of translational movement of the elongated element(s) along one or more different translational axes and rotational movement of the elongated element(s) along one or more different rotational axes. In view of the above, a medical apparatus according to the first aspect of the present invention may facilitate or allow for carrying out reduction more easily and / or faster as compared to conventional ways of carrying out reduction (such as by means of a reduction tool as described in the foregoing section).

[0015] In view of the foregoing, the medical apparatus may in accordance with one or more embodiments of the present invention be considered as an apparatus for facilitating or allowing for carrying out fracture and / or other bone deformation restoration. The elongated element(s) may be engagingly inserted into bone or bone substitute having a fracture or other deformation or damage. The medical apparatus may in accordance with one or more embodiments of the present invention facilitate or allow for both an operation of implantation or insertion of the elongated element(s) into fractured, deformed or damaged bone or bone substitute and an operation of restoration of the fractured, deformed or damaged bone or bone substitute into its normal anatomical position.

[0016] The portion of the human or animal subject may for example include or be constituted by a limb of the human or animal subject (e.g., an arm or a leg).

[0017] Each or any of the at least one elongated element may, at the first end of the elongated element, be configured to be releasably coupled with a respective drive unit of the at least one drive unit. Thus, each or any of the at least one elongated element may be associated with a corresponding drive unit.

[0018] The medical apparatus may comprise a plurality of elongated elements. Each or any drive unit of the at least one drive unit may be configured to, when the corresponding elongated element(s) is or are coupled with the drive unit, selectively cause controlled movement of at least one of the corresponding elongated element(s) in relation to at least one other of the plurality of elongated elements. With reference to an example scenario in which a bone in a human is fractured into two bone fragments, such a configuration may facilitate or allow for engagingly inserting sets of elongated elements, with each set including at least one elongated element, into the fractured bone on different sides of the fracture, i.e., on the respective ones of the two bone fragments. The control unit may then be configured to control operation of the at least one drive unit to move the sets elongated elements so as to bring the two bone fragments back to their normal anatomical position. The same operational principles may apply in scenarios wherein the bone may be fractured into more than two bone fragments, wherein more than two sets of elongated elements may be needed and wherein each set of elongated elements may be engagingly inserted into respective ones of the bone fragments.

[0019] To this end - and for facilitating such operational principles - the medical apparatus may comprise a plurality of plurality of drive units wherein the elongated element(s) corresponding to one drive unit (e.g., a first set of elongated elements) may be controllably moveable in relation to the elongated element(s) corresponding to another drive unit (e.g., a second set of elongated elements). In accordance with this, the medical apparatus may comprise a plurality of elongated elements and a plurality of drive units. Each or any drive unit of the plurality of drive units may be configured to be releasably coupled with at least one elongated element at the first end of the elongated element(s). Each or any drive unit of the plurality of drive units may be configured to, when the corresponding elongated element(s) is or are coupled with the drive unit, selectively cause controlled movement of at least one of the corresponding elongated element(s) in relation to the elongated element(s) corresponding to another drive unit of the plurality of drive units.

[0020] For example subsequent to that the elongated elements have been engagingly inserted into the part of bone or natural or artificial bone substitute of the human or animal subject within the said portion of the human or animal subject and moved so as to bring fragments of bone or natural or artificial bone substitute back to their normal anatomical positions, two or more of the drive units may be interconnected by one or more fixing means in order to fix or secure the elongated elements in their positions so as to maintain those positions over an extended period of time. Such fixing means may comprise an elongated member such as a rigid bar or rod, for example, which may be connected at each of its ends to respective ones of two of the drive units for example by means of clamps. Possibly, each or any of the drive units may be slidingly coupled to the elongated member of the fixing means and with each or any of the drive units capable of being releasably fixed at a selected location along the elongated member of the fixing means by means of one or more clamps or the like.

[0021] Each or any drive unit of the at least one drive unit may be configured to, when the corresponding elongated element(s) is or are coupled with the drive unit, selectively cause controlled movement of at least one of the corresponding elongated element(s) with a plurality of degrees of freedom, e.g., one or more translational degrees of freedom and one or more rotational degrees of freedom. According to an example, each or any drive unit of the at least one drive unit may be configured to, when the corresponding elongated element(s) is or are coupled with the drive unit, selectively cause controlled movement of at least one of the corresponding elongated element(s) with six or more degrees of freedom, which may, in accordance with one or more embodiments of the present invention, be determined by three translation coordinate axes and three rotation coordinate axes. To that end, each or any of the drive unit(s) may preferably be based on one or more types of robots or robotic arms, e.g., including a so-called delta robot or another type of parallel robot. As known in the art, a robotic arm is a type of mechanical arm which is usually programmable or controllable with respect to its operation and may provide functions similar to those which a human arm is capable of. In order to permit for selectively causing controlled movement of at least one of the corresponding elongated element(s) with a plurality of degrees of freedom, each or any of the drive unit(s) may comprise one or more interconnected elements, such as one or more swashplates, one or more so called fluidic muscles, and / or one or more joints (e.g., one or more pneumatic joints). The fluidic muscle(s) may for example comprise one or more fluidic muscle DMSP from FESTO (www.festo.com) and / or another type of tensile actuator which mimics the natural movement of a natural muscle and which may comprise contractible tubing and appropriate connectors. Each or any of the drive unit(s) may preferably be based on (e.g., including) one or more motor drives, which may be based on mechanical, electromechanical, pneumatic, hydraulic, and / or electronic drives. Such motor drive(s) may hence be adjustable or variable speed drive(s). By means of such drive unit(s), a capability or capacity of the medical apparatus of controlled movement of at least one of the elongated element(s) corresponding to the drive unit(s) with a plurality of degrees of freedom when the elongated element(s) is or are coupled with the drive unit(s) may be achieved.

[0022] For each or any of the at least one elongated element, the first end of the elongated element and the second end of the elongated element may be opposite ends of the elongated element.

[0023] Each or any of the at least one elongated element may comprise a pin, e.g., a so-called Steinmann pin.

[0024] Preferably, each or any of the at least one elongated element may comprise a screw, wherein a threaded portion of the screw may be located at the second end of the elongated element. More preferably, each of the at least one elongated element may comprise a Schanz screw, wherein a threaded portion of the Schanz screw may be located at the second end of the elongated element.

[0025] For the case where each or any of the at least one elongated element may comprise a screw, each or any drive unit of the at least one drive unit may be configured to, when the corresponding elongated element(s) is or are coupled with the drive unit, selectively cause controlled movement of at least one of the corresponding elongated element(s) by rotating the elongated element(s) to deploy it into soft tissue, and then turning the elongated element(s) (or screwing the elongated element(s)) (e.g., in a clockwise manner) to advance the elongated element(s) into the part of bone or natural or artificial bone substitute of the human or animal subject. Thereby, the elongated element(s) may become engagingly inserted into the part of bone or natural or artificial bone substitute of the human or animal subject. By subsequently turning the elongated element(s) in the other direction (e.g., in an anticlockwise manner) by means of the corresponding drive unit, the elongated element(s) may be released from the part of bone or natural or artificial bone substitute of the human or animal subject.

[0026] Each or any of the at least one elongated element preferably is configured or possesses such characteristics to permit for the elongated element(s) to penetrate bone or natural or artificial bone substitute and possibly anchor within the bone or natural or artificial bone substitute. For facilitating or allowing for such penetration, the elongated element(s) is / are preferably rigid.

[0027] Each or any of the at least one elongated element may be at least in part made of a bioabsorbable material. Possibly, each or any of the at least one elongated element could be made entirely, or substantially entirely, of a bioabsorbable material.

[0028] Each or any of the at least one elongated element may be at least in part made of a metallic bioabsorbable material. The metallic bioabsorbable material may comprise a bioabsorbable alloy comprising magnesium and one or more metals.

[0029] In the context of the present application, by a “bioabsorbable" material it may be meant a material that is capable of being absorbed into living tissue.

[0030] At least the part or portion of the at least one elongated element that is inserted or insertable into a part of bone or natural or artificial bone substitute of the human or animal subject within the portion of the human or animal subject may preferably be made of a bioresorbable or bioabsorbable material.

[0031] At least the part or portion of the at least one elongated element that is inserted or insertable into a part of bone or natural or artificial bone substitute of the human or animal subject within the portion of the human or animal subject may be made of magnesium-based alloys for example including MgYREZr, Mg-Zn, and / or Mg-Zn-Ca.

[0032] Each or any of the at least one elongated element may comprise an elongated housing surrounding a core, with the core being made of a bioabsorbable or biodegradable material and the elongated housing preferably being made of a biocompatible material. The material of the core may comprise or consist of one or more alloys comprising magnesium and one or more metals, e.g., magnesium-based alloys for example including MgYREZr, Mg-Zn, and / or Mg-Zn-Ca. The material of the elongated housing may comprise or consist of titanium or any other suitable biocompatible material.

[0033] For each or any of the at least one elongated element, at least the part or portion of the at least one elongated element that is inserted or insertable into a part of bone or natural or artificial bone substitute of the human or animal subject within the portion of the human or animal subject may in itself be bioresorbable, or biodegradable, and may thus degrade in the body of the human or animal subject and be replaced by tissue ingrowth.

[0034] Each or any of the at least one elongated element may, at the first end of the elongated element, be configured to be releasably coupled with at least one drive unit of the at least one drive unit by means of a coupling device which may be comprised in the medical apparatus. The coupling device may comprise one or more of: at least one threaded connection device, at least one clamping device, or at least one chuck device. Such coupling devices may be configured to operate (e.g., coupling an elongated element with (e.g., a part or portion of) a corresponding drive unit, and releasing the elongated element from the drive unit) with the same or similar principles as threaded connection devices, clamping devices, or chuck devices as known in the art. For example, the at least one chuck device may be configured to operate (e.g., coupling an elongated element with (e.g., a part or portion of) a corresponding drive unit, and releasing the elongated element from the drive unit) with the same or similar principles as a so called collet chuck.

[0035] The control unit may in alternative be referred to as a control module or control circuitry. The control unit may include or be constituted by any suitable central processing unit (CPU), microcontroller, digital signal processor (DSP), Application Specific Integrated Circuit (ASIC), Field Programmable Cate Array (FPGA), etc., or any combination thereof. The control unit may optionally be capable of executing software instructions stored in a computer program product e.g. in the form of a memory or computer-readable storage medium. The memory may for example be any combination of read and write memory (RAM) and read only memory (ROM). The memory may comprise persistent storage, which for example can be a magnetic memory, an optical memory, a solid-state memory or a remotely mounted memory, or any combination thereof. The computer-readable storage medium may for example include a Digital Versatile Disc (DVD) or a floppy disk or any other suitable type of computer-readable means or computer readable (digital) storage medium, such as, but not limited to, a memory such as, for example, nonvolatile memory, a hard disk drive, a Compact Disc (CD), a Flash memory, magnetic tape, a Universal Serial Bus (USB) memory device, a Zip drive, etc.

[0036] The control unit may include a user interface which may permit a user to control operation of the at least one drive unit by means of providing user input to the user interface.

[0037] Further objects and advantages of the present invention are described in the following by means of exemplifying embodiments. It is noted that the present invention relates to all possible combinations of features recited in the claims.

[0038] Further features of, and advantages with, the present invention will become apparent when studying the appended claims and the description herein. Those skilled in the art realize that different features of the present invention can be combined to create embodiments other than those described herein.

[0039] BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Exemplifying embodiments of the invention will be described below with reference to the accompanying drawings.

[0041] Fig. 1 is a schematic side view of a medical apparatus in accordance with one or more embodiments of the present invention.

[0042] Fig. 2 is a schematic side view of a drive unit of a medical apparatus in accordance with one or more embodiments of the present invention.

[0043] All the figures are schematic, not necessarily to scale, and generally only show parts which are necessary in order to elucidate embodiments of the present invention, wherein other parts may be omitted or merely suggested.

[0044] DESCRIPTION WITH REFERENCE TO THE DRAWINGS

[0045] The present invention will now be described hereinafter with reference to the accompanying drawings, in which exemplifying embodiments of the present invention are shown. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments of the present invention set forth herein; rather, these embodiments of the present invention are provided by way of example so that this disclosure will convey the scope of the invention to those skilled in the art. In the drawings, identical reference numerals denote the same or similar components having a same or similar function, unless specifically stated otherwise.

[0046] Fig. 1 is a very schematic side view of a medical apparatus 100 in accordance with one or more embodiments of the present invention. In general, the medical apparatus 100 comprises at least one elongated element, and at least one drive unit. In accordance with the embodiment of the present invention illustrated in Fig. 1, the medical apparatus 100 comprises a plurality of elongated elements 1, 2, 3, 4, and a plurality of drive units 15, 16. It is to be understood that the number of elongated elements and the number of drive units are exemplary and that the medical apparatus 100 may comprise fewer or more elongated elements and fewer or more drive units than illustrated in Fig. 1. Thus, the plurality of elongated elements may in the following be referred to as the plurality of elongated elements 1, 2, 3, 4 without any loss of generality, and the plurality of drive units may in the following be referred to as the plurality of drive units 15, 16 without any loss of generality.

[0047] Each of the elongated elements 1, 2, 3 and 4 has a first end 5, 7, 9 and 11, respectively.

[0048] In general, each of the at least one elongated element is, at the first end of the elongated element, configured to be releasably coupled with at least one of the at least one drive unit, such that each drive unit of the at least one drive unit is configured to be releasably coupled with at least one elongated element at the first end of the elongated element(s).

[0049] In accordance with the embodiment of the present invention illustrated in Fig. 1, the elongated element 1 is, at the first end 5 of the elongated element 1, configured to be releasably coupled with the drive unit 15, the elongated element 2 is, at the first end 7 of the elongated element 2, configured to be releasably coupled with the drive unit 15, the elongated element 3 is, at the first end 9 of the elongated element 3, configured to be releasably coupled with the drive unit 16, and the elongated element 4 is, at the first end 11 of the elongated element 4, configured to be releasably coupled with the drive unit 16. Thus, the drive unit 15 is configured to be releasably coupled with the elongated elements 1 and 2 at the first ends 5 and 7, respectively, of the elongated elements 1 and 2, and the drive unit 16 is configured to be releasably coupled with the elongated elements 3 and 4 at the first ends 9 and 11, respectively, of the elongated elements 3 and 4.

[0050] In accordance with the embodiment of the present invention illustrated in Fig. 1, the medical apparatus 100 comprises a plurality of drive units 15, 16 and a plurality of elongated elements 1, 2, 3, 4. In such cases, each drive unit of the plurality of drive units 15, 16 may be configured to be releasably coupled with at least one elongated element at the first end of the elongated element(s). Further, each drive unit of the plurality of drive units 15, 16 may be configured to, when the corresponding elongated element(s) is or are coupled with the drive unit, selectively cause controlled movement of at least one of the corresponding elongated element(s) in relation to the elongated element(s) corresponding to another drive unit of the plurality of drive units 15, 16.

[0051] With reference to the embodiment of the present invention illustrated in Fig. 1, the drive unit 15 may be configured to be releasably coupled with the elongated elements 1, 2 at the first ends 5 and 7, respectively, of the elongated elements 1, 2, and the drive unit 16 may be configured to be releasably coupled with the elongated elements 3, 4 at the first ends 9 and 11, respectively, of the elongated elements 1, 2. Further, the drive unit 15 may be configured to, when the corresponding elongated elements 1, 2 is or are coupled with the drive unit 15, selectively cause controlled movement of at least one of the corresponding elongated elements 1, 2 in relation to the elongated elements 3, 4 corresponding to the drive unit 16. Similarly, the drive unit 16 may be configured to, when the corresponding elongated elements 3, 4 is or are coupled with the drive unit 16, selectively cause controlled movement of at least one of the corresponding elongated elements 3, 4 in relation to the elongated elements 1, 2 corresponding to the drive unit 15.

[0052] Each of the elongated elements 1, 2, 3 and 4 has a second end 6, 8, 10, and 12, respectively.

[0053] In general, each of the at least one elongated element may be configured so as to be adapted to be engageable, at the second end of the elongated element, with a portion of a human or animal subject such that the elongated element at its second end becomes engagingly inserted into a part of bone or natural or artificial bone substitute of the human or animal subject within the said portion of the human or animal subject.

[0054] The portion of a human or animal subject is very schematically indicated at 20 in Fig. 1, and parts of bone or natural or artificial bone substitute of the human or animal subject within the portion 20 of the human or animal subject (in the illustrated embodiment two such parts are illustrated, but it is to be understood that there may be fewer or more parts) are very schematically indicated at 21 and 22 in Fig. 1. Fig. 1 schematically illustrates a side view of the portion 20 of the human or animal subject. Other portions of the human or animal subject and any other parts of bone or natural or artificial bone substitute of the human or animal subject within the portion 20 of the human or animal subject are not shown in Fig. 1.

[0055] In accordance with the embodiment of the present invention illustrated in Fig. 1, each of the elongated elements 1 and 2 is configured so as to be adapted to be engageable, at the respective second end 6 or 8 of the elongated elements 1 and 2, with the portion 20 of the human or animal subject such that the elongated element 1, 2 at its second end 6, 8 becomes engagingly inserted into the part 21 of bone or natural or artificial bone substitute of the human or animal subject within the portion 20 of the human or animal subject. Further, each of the elongated elements 3 and 4 is configured so as to be adapted to be engageable, at the respective second end 10 or 12 of the elongated elements 3 and 4, with the portion 20 of the human or animal subject such that the elongated element 3, 4 at its second end 10, 12 becomes engagingly inserted into the part 22 of bone or natural or artificial bone substitute of the human or animal subject within the portion 20 of the human or animal subject. To that end, and as has already been indicated elsewhere herein, each or any of the elongated elements 1, 2, 3, 4 may comprise a screw, wherein a threaded portion (not shown in Fig. 1) of the screw may be located at the second end 6, 8, 10, 12 of the elongated element. Preferably, each of the elongated elements 1, 2, 3 ,4 may comprise a Schanz screw, wherein a threaded portion of the Schanz screw may be located at the second end 6, 8, 10, 12 of the elongated element.

[0056] For illustrating principles of one or more embodiments of the present invention, Fig. 1 illustrates a situation in which the elongated elements 1, 2, 3, 4 at their respective second ends 6, 8, 10, 12 are engagingly inserted into the parts 21 or 22 of bone or natural or artificial bone substitute of the human or animal subject within the portion 20 of the human or animal subject.

[0057] With reference to an example scenario in which a bone or natural or artificial bone substitute in the human or animal subject has been fractured into two bone fragments, the parts 21 or 22 of bone or natural or artificial bone substitute of the human or animal subject within the portion 20 of the human or animal subject may for example represent fractured bone or natural or artificial bone substitute on two different sides of the fracture. The dots in Fig. 1 which are between the parts 21 and 22 of bone or natural or artificial bone substitute of the human or animal subject may represent the approximate location of a fracture.

[0058] In general, each drive unit of the at least one drive unit is controllable with respect to operation thereof and configured to, when the corresponding elongated element(s) is or are coupled with the drive unit, selectively cause controlled movement of at least one of the corresponding elongated element(s).

[0059] In accordance with the embodiment of the present invention illustrated in Fig. 1, the drive unit 15 is controllable with respect to operation thereof and configured to, when the corresponding elongated elements 1 and 2 are coupled with the drive unit 15, selectively cause controlled movement of at least one of the corresponding elongated elements 1 and 2. Further, the drive unit 16 is controllable with respect to operation thereof and configured to, when the corresponding elongated elements 3 and 4 are coupled with the drive unit 16, selectively cause controlled movement of at least one of the corresponding elongated elements 3 and 4.

[0060] As has already been indicated elsewhere herein, each of the drive units 15 and 16 may be based on one or more types of robots or robotic arms, e.g., including a so-called delta robot or another type of parallel robot, and / or may be based on (e.g., including) one or more motor drives, which may be based on mechanical, electromechanical, pneumatic, hydraulic, and / or electronic drives. Each of the drive units 15 and 16 may comprise one or more interconnected elements, one or more swashplates, one or more so-called fluidic muscles, and / or one or more joints (e.g., one or more pneumatic joints). By means of such drive units 15 and 16, a capability or capacity of the medical apparatus 1 of controlled movement of at least one of the elongated elements 1 and 2 and at least one of the elongated elements 3 and 4 corresponding to the drive units 15 and 16, respectively, with a plurality of degrees of freedom when the elongated elements 1-4 are coupled with the respective ones of the drive units 15 and 16 may be achieved. The controlled movement of at least one of the elongated elements 1 and 2 and at least one of the elongated elements 3 and 4 corresponding to the drive units 15 and 16, respectively, effected by the drive units 15 and 16 may for example be a combination of translational movement of the elongated element(s) along one or more different translational axes and rotational movement of the elongated elements along one or more different rotational axes. By means of the capability or capacity of the medical apparatus 1 of controlled movement of at least one of the elongated elements 1 and 2 and at least one of the elongated elements 3 and 4, and with reference to the above discussed example scenario, in which the parts 21 or 22 of bone or natural or artificial bone substitute of the human or animal subject within the portion 20 of the human or animal subject may for example represent two bone fragments resulting from a fracture of bone or natural or artificial bone substitute of the human or animal subject, the medical apparatus 1 may facilitate or allow for carrying out reduction of the bone fragments.

[0061] The medical apparatus 100 comprises a control unit 30 configured to control operation of the at least one drive unit. In accordance with the embodiment of the present invention illustrated in Fig. 1, the control unit 30 is illustrated as being coupled with each drive unit of the plurality of drive units 15, 16. The control unit 30 may be configured to control operation of each of the drive units that may be included in the medical apparatus 100 individually or to control operation of different groups of the drive units that may be included in the medical apparatus 100 individually.

[0062] As indicated in Fig. 1, the control unit 30 may be communicatively coupled with the at least one drive unit by means of wired communication means or techniques in order to permit the control unit 30 to control operation of the at least one drive unit, e.g., by means of the control unit 30 transmitting one or more signal, message, and / or data, etc. for controlling operation of the at least one drive unit. However, it is to be understood that a communicative coupling between the control unit 30 and the at least one drive unit may in alternative be realized by means of wireless communication means or techniques, or by a combination of wired and wireless communication means or techniques. In order to implement such a communicative coupling between the control unit 30 and the at least one drive unit, any appropriate wired and / or wireless communication means or techniques may be used, such as any appropriate wired and / or wireless communication means or techniques as known in the art.

[0063] As illustrated in Fig. 1, the control unit 30 may be arranged separately from the drive unit(s). However, in accordance with one or more embodiments of the present invention, the control unit 30 may be co-located with or included in one or more of the drive units that may be included in the medical apparatus 100. Further, the medical apparatus 100 may comprise several control units, wherein each control unit may be configured to control one or more corresponding drive units, and with each control unit possibly being co-located with or included in one or more of the corresponding drive unit(s).

[0064] As illustrated in Fig. 1, the control unit 30 may include a user interface, schematically indicated at 31 in Fig. 1, which may permit a user to control operation of the at least one drive unit by means of providing user input to the user interface.

[0065] In accordance with the embodiment of the present invention illustrated in Fig. 1, the medical apparatus 1 may comprise a fixing means 40. By means of the fixing means 40, the drive units 15, 16 may be interconnected in order to fix or secure the elongated elements 1-4 in their positions so as to maintain those positions over an extended period of time. As indicated in Fig. 1, the fixing means 40 may comprise an elongated member such as a rigid bar or rod which may be connected at or in proximity of each of its ends to respective ones of the drive units 15 and 16 for example by means of clamps (not shown in Fig. 1). In accordance with the embodiment of the present invention illustrated in Fig. 1, the drive units 15 and 16 may be slidingly coupled to the elongated member of the fixing means 40, and with the drive units 15 and 16 capable of being releasably fixed at a selected location along the elongated member of the fixing means 40 by means of one or more clamps or the like (not shown in Fig. 1). The drive units 15 and 16 may be slidingly coupled to the elongated member of the fixing means 40 for example by means of through-holes in the respective ones of the drive units 15 and 16 through which the fixing means 40 (e.g., the elongated member thereof) may be permitted to extend and via which through-holes the fixing means 40 may be slidingly coupled to the drive units 15 and 16, respectively, or vice versa.

[0066] The drive units 15, 16 may be coupled with an external fixation system (not shown in Fig. 1), which may be configured to immobilise the portion 20 of the human or animal subject. As described in the foregoing, by means of the capability or capacity of the medical apparatus 1 of controlled movement of at least one of the elongated elements 1 and 2 and at least one of the elongated elements 3 and 4, and with reference to the above-discussed example scenario, in which the parts 21 or 22 of bone or natural or artificial bone substitute of the human or animal subject within the portion 20 of the human or animal subject may for example represent two bone fragments resulting from a fracture of bone or natural or artificial bone substitute of the human or animal subject, the medical apparatus 1 may facilitate or allow for carrying out reduction of the bone fragments. The external fixation system may be configured to immobilise the portion 20 of the human or animal subject to facilitate healing of the portion 20 of the human or animal subject after having carried out reduction of the bone fragments.

[0067] Fig. 2 is a very schematic side view of a drive unit 15 of a medical apparatus in accordance with one or more embodiments of the present invention. The drive unit 15 illustrated in Fig. 2 is similar to the drive unit 15 illustrated in Fig. 1, and the same reference numbers in Figs. 1 and 2 represent the same or similar elements or components having the same or similar function.

[0068] I n general, each of the at least one elongated element may, at the first end of the elongated element, be configured to be releasably coupled with at least one drive unit of the at least one drive unit by means of a coupling device which may be comprised in the medical apparatus 1.

[0069] I n accordance with the embodiment of the present invention illustrated in Fig. 2, the elongated elements 1 and 2 corresponding to the drive unit 15 are, at respective first ends 5 and 7 of the elongated elements 1 and 2, configured to be releasably coupled with the drive unit 15 by means of respective coupling devices, schematically indicated in Fig. 2 at 51 and 52. Each or any of the coupling devices 51 and 52 may comprise at least one threaded connection device, at least one clamping device, and / or or at least one chuck device. As indicated in Fig. 2, the elongated elements 1 and 2 may extend into an interior space 55 of the drive unit 15 and the coupling devices 51 and 52 may be arranged within the interior space 55. As further indicated in Fig. 2, the interior space 55 may be an at least in part enclosed space. However, such an arrangement of parts of the elongated elements 1 and 2 and the coupling devices 51 and 52 within an interior space of the drive unit 15 is exemplifying and not required. It is to be understood that several elongated elements could be releasably coupled with their corresponding drive unit by means of one coupling device, and hence the case illustrated in Fig. 2 where for each elongated element there is a corresponding coupling element is exemplifying and not limiting. The drive unit 16 illustrated in Fig. 1 may be configured similarly to or the same as the drive unit 15 illustrated in Fig. 2.

[0070] I n conclusion, a medical apparatus is disclosed. The medical apparatus comprises at least one elongated element and at least one drive unit. Each of the at least one elongated element is, at a first end of the elongated element, configured to be releasably coupled with at least one of the at least one drive unit, such that each drive unit of the at least one drive unit is configured to be releasably coupled with at least one elongated element at the first end of the elongated element(s). Each drive unit of the at least one drive unit is controllable with respect to operation thereof and configured to, when the corresponding elongated element(s) is or are coupled with the drive unit, selectively cause controlled movement of at least one of the corresponding elongated element(s).

[0071] While the present invention has been illustrated in the appended drawings and the foregoing description, such illustration is to be considered illustrative or exemplifying and not restrictive; the present invention is not limited to the disclosed embodiments. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. I n the appended claims, the word “comprising” does not exclude other elements or steps, and the indefinite article "a” or “an” does not exclude a plurality. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.

Claims

CLAIMS1. A medical apparatus (100) comprising: at least one elongated element (1, 2, 3, 4); and at least one drive unit (15, 16); wherein each of the at least one elongated element is, at a first end (5, 7, 9, 11) of the elongated element, configured to be releasably coupled with at least one of the at least one drive unit, such that each drive unit of the at least one drive unit is configured to be releasably coupled with at least one elongated element at the first end of the elongated element(s); wherein each of the at least one elongated element is configured so as to be adapted to be engageable, at a second end (6, 8, 10, 12) of the elongated element, with a portion (20) of a human or animal subject such that the elongated element at its second end becomes engagingly inserted into a part of bone or natural or artificial bone substitute (21, 22) of the human or animal subject within the said portion of the human or animal subject; wherein each drive unit of the at least one drive unit is controllable with respect to operation thereof and configured to, when the corresponding elongated element(s) is or are coupled with the drive unit, selectively cause controlled movement of at least one of the corresponding elongated element(s); and wherein the medical apparatus further comprises a control unit (30) configured to control operation of the at least one drive unit; wherein for each of the at least one elongated element, at least the part or portion of the elongated element that is inserted or insertable into the part of bone or natural or artificial bone substitute of the human or animal subject within the said portion of the human or animal subject is made of a bioresorbable or bioabsorbable material.

2. A medical apparatus according to claim 1, wherein for each of the at least one elongated element, at least the part or portion of the elongated element that is inserted or insertable into the part of bone or natural or artificial bone substitute of the human or animal subject within the said portion of the human or animal subject is in itself bioresorbable.

3. A medical apparatus according to claim 1 or 2, wherein for each drive unit of the at least one drive unit, the drive unit is based on one or more types of robots or robotic arms.

4. A medical apparatus according to claim 3, wherein at least one drive unit of the at least one drive unit is based on a parallel robot.

5. A medical apparatus according to claim 3 or 4, wherein each drive unit of the at least one drive unit is configured to, when the corresponding elongated element(s) is or are coupled with the drive unit, selectively cause controlled movement of at least one of the corresponding elongated element(s) with six or more degrees of freedom.

6. A medical apparatus according to any one of claims "1-5, wherein for each drive unit of the at least one drive unit, the drive unit comprises one or more interconnected fluidic muscles.

7. A medical apparatus according to any one of claims 1-6, wherein the medical apparatus comprises a plurality of elongated elements (1, 2, 3, 4), and wherein each drive unit of the at least one drive unit is configured to, when the corresponding elongated element(s) is or are coupled with the drive unit, selectively cause controlled movement of at least one of the corresponding elongated element(s) in relation to at least one other of the plurality of elongated elements.

8. A medical apparatus according to any one of claims 1-6, wherein the medical apparatus comprises a plurality of elongated elements (1, 2, 3, 4) and a plurality of drive units (15, 16), wherein each drive unit of the plurality of drive units is configured to be releasably coupled with at least one elongated element at the first end of the elongated element(s), wherein each drive unit of the plurality of drive units is configured to, when the corresponding elongated element(s) is or are coupled with the drive unit, selectively cause controlled movement of at least one of the corresponding elongated element(s) in relation to the elongated element(s) corresponding to another drive unit of the plurality of drive units.

9. A medical apparatus according to any one of claims 1-8, wherein each of the at least one elongated element comprises a pin.

10. A medical apparatus according to any one of claims 1-9, wherein each of the at least one elongated element comprises a screw, wherein a threaded portion of the screw is located at the second end of the elongated element.

11. A medical apparatus according to any one of claims 1-10, wherein each of the at least one elongated element comprises a Schanz screw, wherein a threaded portion of the Schanz screw is located at the second end of the elongated element.

12. A medical apparatus according to any one of claims 1-11, wherein each of the at least one elongated element is at least in part made of a metallic bioabsorbable material.

13. A medical apparatus according to claim 12, wherein the metallic bioabsorbable material comprises a bioabsorbable alloy comprising magnesium and one or more metals.

14. A medical apparatus according to any one of claims 1-13, wherein each of the at least one elongated element is, at the first end of the elongated element, configured to be releasably coupled with at least one drive unit of the at least one drive unit by means of a coupling device (51, 52) comprised in the medical apparatus, the coupling device comprising one or more of: at least one threaded connection device, at least one clamping device, or at least one chuck device.

15. A medical apparatus according to any one of claims 1-14, wherein each of the at least one elongated element is, at the first end of the elongated element, configured to be releasably coupled with a respective drive unit of the at least one drive unit.

Images