Robotic rod benders and related mechanical and motor housings

Patent metadata

Field	Value
Publication number	US-11357548-B2
Application number	US-201916560422-A
Country	US
Kind code	B2
Filing date	Sep 4, 2019
Priority date	Nov 9, 2017
Publication date	Jun 14, 2022
Grant date	Jun 14, 2022

Abstract

Robotic rod benders are disclosed including a motor housing and a mechanical housing coupled with the motor housing. The motor housing may include first and second rod feeding/rotating motors, a brake motor, a bending motor, first and second rod feeding/rotating transmission inputs, a brake transmission input, and a bending transmission input. The mechanical housing may include a rod feeding/rotating subassembly, a brake subassembly, a bending subassembly, first and second rod feeding/rotating transmission outputs, a brake transmission output, and a bending transmission output. Separate motor and mechanical housings are also disclosed.

First claim

What is claimed is:

1. A mechanical housing for a robotic rod bender, wherein the mechanical housing is configured to couple with a motor housing, the mechanical housing comprising:
a rod feeding subassembly configured to feed a surgical rod in a longitudinal direction of the surgical rod;
a brake subassembly configured to receive the rod from the rod feeding subassembly and to fix the surgical rod in place;
a bending subassembly configured to bend the surgical rod while the surgical rod is fixed in place by the brake subassembly;
a rod feeding transmission output configured to provide a first self-indexing output coupling with a rod feeding transmission input from the motor housing and to drive the rod feeding assembly responsive to torque coupled from the rod feeding transmission input;
a brake transmission output configured to provide a second self-indexing output coupling with a brake transmission input from the motor housing and to drive the brake subassembly responsive to torque coupled form the brake transmission input; and
a bending transmission output configured to provide a third self-indexing output coupling with a bending transmission input from the motor housing and to drive the bending subassembly responsive to torque coupled from the bending transmission input.

2. The mechanical housing of claim 1 , wherein the rod feeding subassembly is a rod feeding/rotating subassembly configured to feed the surgical rod in the longitudinal direction of the surgical rod and/or to rotate the surgical rod about an axis of the surgical rod, wherein the rod feeding transmission output is a first rod feeding/rotating transmission output, and wherein the rod feeding transmission input is a first rod feeding/rotating transmission input, the mechanical housing further comprising:
a second rod feeding/rotating transmission output configured to provide a fourth self-indexing output coupling with a second rod feeding/rotating transmission input from the motor housing, and wherein the first and second rod feeding/rotating transmission outputs are configured to drive the rod feeding/rotating assembly to feed and/or rotate the surgical rod responsive to torque coupled form the first and/or second rod feeding/rotating transmission inputs.

3. The mechanical housing of claim 1 , wherein at least one of the first, second, and/or third self-indexing output couplings comprises a spline configured to engage with a corresponding spline of the motor housing.

4. The mechanical housing of claim 1 , wherein at least one of the first, second, and/or third self-indexing output couplings comprises a slot configured to engage with a flat head of the motor housing, or wherein at least one of the first, second, and/or third self-indexing output couplings comprises a flat head drive configured to engage with a slot of the motor housing.

5. The mechanical housing of claim 1 , wherein at least one of the first, second, and/or third self-indexing output couplings comprises a pin configured to engage with a slot of the motor housing, or wherein at least one of the first, second, and/or third self-indexing output couplings comprises a slot configured to engage with a pin of the motor housing.

6. The mechanical housing of claim 1 , wherein at least one of the first, second, and/or third self-indexing output couplings comprises a spring controlled pin configured to engage with a slot of the motor housing.

7. The mechanical housing of claim 1 , wherein at least one of the first, second, and/or third self-indexing output couplings comprises a central projection that is configured to engage with a corresponding central depression of the motor housing.

8. The mechanical housing of claim 1 , wherein the mechanical housing includes first and second latches on opposite sides of the mechanical housing configured to detachably secure the mechanical housing in position relative to the motor housing.

9. The mechanical housing of claim 1 further comprising:
a surface configured to couple with the motor housing, wherein the surface provides separation between the motor housing and each of the rod feeding, brake, and bending subassemblies, and wherein the rod feeding transmission output, the brake transmission output, and the rod feeding transmission output extend through the surface;
a first rotary seal configured to provide a seal between the surface and the rod feeding transmission output;
a second rotary seal configured to provide a seal between the surface and the brake transmission output; and
a third rotary seal configured to provide a seal between the surface and the bending transmission output.

10. A motor housing for a robotic rod bender, wherein the motor housing is configured to couple with a mechanical housing, the motor assembly comprising:
a rod feeding motor configured to drive a rod feeding subassembly of the mechanical housing;
a brake motor configured to drive a brake subassembly of the mechanical housing;
a bending motor configured to drive a bending subassembly of the mechanical housing;
a rod feeding transmission input configured to provide a first self-indexing input coupling with a rod feeding transmission output from the mechanical housing and to couple torque from the rod feeding motor to the rod feeding transmission output;
a brake transmission input configured to provide a second self-indexing input coupling with a brake transmission output from the mechanical housing and to couple torque from the brake motor to the brake transmission output; and
a bending transmission input configured to provide a third self-indexing input coupling with a bending transmission output from the mechanical housing and to couple torque from the bending motor to the bending transmission output.

11. The motor housing of claim 10 , wherein the rod feeding subassembly is a rod feeding/rotating subassembly, wherein the rod feeding motor is a first rod feeding/rotating motor, wherein the rod feeding transmission input is a first rod feeding/rotating transmission input, and wherein the rod feeding transmission output is a first rod feeding/rotating transmission output, the motor housing further comprising:
a second rod feeding/rotating motor configured to drive the rod feeding/rotating subassembly of the mechanical housing; and
a second rod feeding/rotating transmission input configured to provide a fourth self-indexing input coupling with a second rod feeding/rotating transmission output from the mechanical housing and to couple torque from the second rod feeding/rotating motor to the rod feeding/rotating subassembly.

12. The motor housing of claim 10 , wherein at least one of the first, second, and/or third self-indexing input couplings comprises a spline configured to engage with a corresponding spline of the mechanical housing.

13. The motor housing of claim 10 , wherein at least one of the first, second, and/or third self-indexing input couplings comprises a slot configured to engage with a flat head of the mechanical housing, or wherein at least one of the first, second, and/or third self-indexing input couplings comprises a flat head configured to engage with a slot of the mechanical housing.

14. The motor housing of claim 10 , wherein at least one of the first, second, and/or third self-indexing input couplings comprises a pin configured to engage with a slot of the mechanical housing, or wherein at least one of the first, second, and/or third self-indexing input couplings comprises a slot configured to engage with a pin of the mechanical housing.

15. The motor housing of claim 10 , wherein at least one of the first, second, and/or third self-index

Assignees

• Globus Medical Inc

Inventors

• Paster Samuel
• Johnson Norbert
• Chappuis Olivier
• Cleary David
• Rout Sritam Parashar
• Brauckmann Michael
• Vanleer Kyle

Classifications

• B21D7/14

  combined with measuring of bends or lengths · CPC title

• A61B2090/3983

  Reference marker arrangements for use with image guided surgery · CPC title

• A61B2034/2068

  using pointers, e.g. pointers having reference marks for determining coordinates of body points · CPC title

• A61B2017/00398

  using powered actuators, e.g. stepper motors, solenoids · CPC title

• A61B2017/00199

  with a console, e.g. a control panel with a display · CPC title