Classifications

• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
  • A61B6/04—Positioning of patients; Tiltable beds or the like
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
  • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
  • A61B6/03—Computed tomography [CT]
  • A61B6/032—Transmission computed tomography [CT]

Definitions

• the embodiments herein relate to a docking mechanism, and more particularly but not exclusively to a docking mechanism and a method for providing the docking mechanism that could be configured for positioning and aligning a device with respect to a target device.
• Positioning and aligning a device accurately with respect to a target device is given a significant importance in industries such as medical industry.
• various medical procedures such as biopsy, surgery and so on requires proper positioning and alignment of two or more devices in order to achieve desired accuracy in medical procedures.
• CT Computer Tomography
• the device may be for biopsy, surgery, oblation, drug delivery or any other medical procedure.
• Accurate alignment of the device (robot) is essential to do a CT guided procedure.
• CT guided procedure the CT image is processed and from the image information, the coordinates are derived to drive the Robot to an exact location for example the location of a tumor.
• the accuracy of the entire procedure is directly related to the accuracy with which the robotic device is positioned and aligned with respect to the CT scanner (CT scanner table).
• CT scanner CT scanner table
• an optical/digital solution is used.
• plurality of camera are mounted on to the medical device.
• the cameras are configured to capture a pattern pasted on to the floor.
• a controller provided in communication with the camera is configured to determine the deviation of the medical device with respect to the calibrated position by using image processing technique.
• the information based on the deviation of medical device with respect to the calibrated position is fed to a computer.
• the computer is configured to correct the positioning coordinates of the medical device based on the determined deviation.
• Deviations from the vertical axis are also measured and fed manually to the computed and correction is performed.
• the optical/digital solution does not achieve the optimum accuracy and does not take care of major deviations in the floor and CT table inclination. It is complicated and needs a skilled person to input the values and works only within a narrow range. Also repeatability is not satisfactory.
• FIG. 1 Another method for docking the medical device with respect to CT scanner is to use a docking aid/slot mounted on the floor.
• the robotic device will have a mating part which will mate with the docking aid on the floor.
• the process of providing a docking aid/slot requires the docking aid to be drilled and mounted on the floor. This arrangement interferes with the free movement of patient and stretcher around the CT table. Also hospitals are not permitting drilling the floor in the CT room.
• the conventional docking mechanisms are partially inefficient in aligning/docking/positioning a medical device (such as a robotic device); accurately and repeatedly with reference to a CT scanner thereby making the CT guided medical procedure partially inefficient
• the principal object of this invention is to provide a system and method for docking a medical device to user desired position (both side of a CT scanner table).
• Another object of the invention is to provide a system and method for docking the medical device that could maintain the accuracy during repeated usage.
• a further object of the invention is to provide a system and method for docking a medical device that could adjust the positioning of medical device according to the inclinations in the floor and the CT table.
• Yet another object of the invention is to provide a docking mechanism that is simple and cost effective.
• Another object of the invention is to provide a docking mechanism for medical device that does not include any three dimensional aid such that it could enable free movement of patient stretcher.
• Another object of the invention is to provide a docking mechanism that could reduce the time involved in the docking process.
• FIG. 1 depicts a docking mechanism attached to the med ical device according to embodiments as disclosed herein;
• FIG. 2 depicts a right floor plate according to an embodiment disclosed herein;
• FIG. 3 depicts a left floor plate according to an embodiment disclosed herein.
• FIG. 4 depicts a medical . device that is clocked using a docking mechanism according to an embodiment of the present invention
• Fig. 5 depicts a plate provided in the first part according to an embodiment of the present invention
• Fig. 6 depicts a docked position of the docking mechanism with plunger switch according to another embodiment of the present invention
• Fig. 7 depict an undocked position of the docking mechanism with plunger switch according to another embodiment of the present invention
• FIG. 8a and 8b depict a right floor plate and a left floor plate respectively according to another embodiment of the present invention.
• Fig. 9 is a flow chart depicting the method for docking a medical device 200 such as a robotic device corresponding to the CT scanner table according to an embodiment disclosed herein.
• the embodiments herein achieve a system and method for docking a medical device to both side of a CT scanner table as described herein below. Further, the embodiments herein achieve a system and method for docking the medical device that could maintain the accuracy during repeated usage. Further, the embodiments herein achieve a system and method for docking a medical device that could adjust the positioning of medical device according to the inclinations in the floor and the CT table. Furthermore, the embodiments herein achieve provide a docking mechanism that is simple and cost effective. Referring now to the drawings, and more particularly to FIGS . 1 through 9, where similar reference characters denote corresponding features consistently throughout the figures, there are shown embodiments.
• FIG. 1 depicts a docking mechanism attached to the medical device according to embodiments as disclosed herein.
• the docking mechanism 100 includes a first part 102 and a second part 104.
• the first part 102 is provided in communication with a device that has to be docked.
• the first part 102 is provided in communication with a medical device 200.
• the second part 104 is provided in communication with a target surface on which the device has to be docked.
• the target surface is a floor.
• the medical device 200 includes wheels 202.
• the wheels 202 are retractable. The retractable wheels enable the medical device 200 to rest on its base such that the medical device 200 could stand on wheels 202 or on a solid metal base 203.
• the first part 102 includes plurality of plates, each having plurality of ball housing.
• the plurality of plates is provided at each side of the medical device 200.
• each of ball housing includes at least one sphere that could be configured to dock the device 200.
• the first part 102 includes four plates 106, each plate having two ball housings 108a and 108b.
• the four plates 106 are provided at each side of the medical device 200, such that each side of the medical device 200 includes two ball housings 108a and 108b.
• the ball housings 108a and 108b includes a sphere 109a and a sphere 109b respectively, such that a medical device 200 having four sides could include eight spheres (two sets of spheres ( 109a and 109b) in each side).
• the plate 106, the housings ( 108a and 108b) and the sphere ( 109a and 109b) are all made of rigid material such as steel.
• the plate 106, the housings ( 108a and 108b) and the sphere ( 109a and 109b) could be made of any other material without otherwise deterring intended function of the docking mechanism 100 as can be deduced from this description.
• the sphere 109a is configured to dock the medical device 200 to the right side of the CT scanner table. Further, the sphere. '1,09b is configured to dock the medical device 200 to the left side of the CT scanner table.
• the sphere 109a and sphere 109b are provided with separate marks, such' that the sphere 109a and 109b could be differentiated.
• the sphere 109a and the sphere 109b is colored coded in order to different iate each other.
• Fig. 5 depicts a plate provided in the first part according to an embodiment of the present invention.
• the first part 102 further includes a leveling bolt 1 10.
• the leveling bolt 1 10 is provided on top of each housing 108a and 108b. However, it is also within the scope of invention, that the leveling bolt 1 10 could be provided in any other position without otherwise deterring intended function of the docking mechanism 100 as can be deduced from this description.
• the leveling bolt 1 10 is selected from a jack bolt.
• the leveling bolt 1 10 is configured to adjust the inclination of device 200 to corresponding to the orientation of CT scanner table (not shown).
• the leveling bolt 1 1 0 is provided with a nut 1 12 to permanently lock the inclination of the device 200.
• the second part 104 includes at least one of a right floor plate 1 14 and a left floor plate 1 16.
• the right floor plate 1 14 is configured to dock the medical device 200 to the right side of the CT scanner table.
• the left floor plate 1 16 is configured to dock the medical device 200 to the left side of the CT scanner table.
• the right floor plate 1 14 includes at least one locating hole 1 141, at least one relief-hole 1 14r, at least one pattern for camera detection 1 14p.
• the locating hole 1 141 is provided corresponding to the sphere 109a that is configured to dock the medical device 200 to the right side of the CT scanner table. Further, the locating hole 1 141 is configured to receive the sphere 109a.
• the sphere 109a is provided having a diameter slightly higher than the diameter of the locating hole 1 141, such that the locating hole 1 141 could be configured to receive the sphere 109a up to a certain depth.
• the sphere 109a includes a diameter of 14mm and the locating hole 1 141 includes a diameter of 12mm.
• the locating hole 1 141 further enables aligning the sphere 1 09a, such that the center of sphere 109a and the center of locating hole 1 141 lies along the same axis.
• the locating hole 1 141 is provided as a through hole.
• the locating hole 1 141 is provided as a semi through or non through hole without otherwise deterring intended function of the docking mechanism as could be deduced from this description.
• the relief hole 1 14r is provided corresponding to the sphere 109b that is configured to dock the medical device 200 to the left side of the CT scanner table.
• the rel ief hole 1 14r is configured to allow the sphere 109b to pass through it, such that the outer surface of the sphere 109b does not contact the inner surface of the relief hole 1 14r.
• the relief hole 1 14r is provided having a diameter considerably higher than the diameter of sphere 109b, such that the outer surface of the sphere 109b does not contact the inner surface o f the rel ie f hole 1 14r.
• the sphere 109b includes a diameter of 14mm and the relief hole 1 14r includes a diameter of 18mm.
• the relief hole 1 14r is provided as a through hole. In another embod iment, the relief hole 1 14r is provided as a semi through or non through hole such that the outer surface of the sphere 109b does not contact the inner surface of the relief hole 1 14r.
• the right floor plate 1 14 further includes a right side docking detector 1 14d that is configured to differentiate the right floor plate 1 14 from the left floor plate 1 16.
• right side docking detector 1 14d could be a sticker, coloured codes and so on.
• Fig. 2 depicts a right floor plate according to an embodiment disclosed herein.
• the left floor plate 1 16 includes at least one locating hole 1 161, at least one relief- hole 1 16r, at least one pattern for camera detection 1 16p.
• the locating hole 1 161 is provided corresponding to the sphere 109b that is configured to dock the medical device 200 to the left side of the CT scanner table. Further, the locating hole 1 161 is configured to receive the sphere 109b.
• the sphere 109b is provided having a diameter slightly higher than the diameter of the locating hole 1 161, such that the locating hole 1 161 could be configured to receive the sphere 109b up to a certain depth.
• the sphere 109b includes a diameter of 16mm and the locating hole 1 161 includes a diameter of 12mm.
• the locating hole 1 161 further enables aligning the sphere 109b, such that the center of sphere 109b and the center of locating hole 1 161 lies along the same axis.
• the locating hole 1 161 is provided as a through hole.
• the locating hole 1 161 is provided as a semi through or non through hole without otherwise deterring intended function of the docking mechanism as cou ld be deduced from this description.
• the relief hole 1 16r is provided corresponding to the sphere 109a that is configured to dock the medical device 200 to the right side of the CT scanner table.
• the relief hole 1 16r is configured to allow the sphere 109a to pass through it, such that the outer surface of the sphere 109a does not contact the inner surface of the relief hole 1 16r.
• the relief hole 1 16r is provided having a diameter considerably higher than the diameter of sphere 109a, such that the outer surface of the sphere 109a does not contact the inner surface of the relief hole 1 16r.
• the sphere 109a includes a diameter of 16mm and the relief hole 1 16r includes a diameter of 1 8mm.
• the relief hole 1 16r is provided as a through hole. In another embodiment, the relief hole 1 16r is provided as a semi through or non through hole such; that the outer surface of the sphere 109a does not contact the inner surface of the relief hole 1 16r.
• the left floor plate 1 16 further includes a left side docking detector
• left side docking detector 1 16d that is configured to differentiate the left floor plate 1 16 from the right floor plate 1 14.
• left side docking detector 1 16d could be a sticker, coloured codes and so on.
• the right floor plate 1 14 and the left floor plate 1 1 6 is made of stainless plate having thickness of 2.5mm. However, it is also within the scope of invention, that the right floor plate 1 14 and the left floor plate 1 16 could be made of any other material having any other thickness without otherwise deterring intended function of the docking mechanism 100 as can be deduced from this description.
• Fig. 3 depicts a left floor plate according to an embodiment disclosed herein.
• the corresponding second part 104 (right floor plate 1 14 or left floor plate 1 1 6) is fixed on to the floor.
• at least one of the right floor plate 1 14 or the left floor plate 1 16 is fixed on to respective sides of the CT scanner table using a removable securing mechanism such as double sided adhesive tape.
• a removable securing mechanism such as double sided adhesive tape.
• the right floor plate 1 14 or the left floor plate 1 16 could be fixed on to respective sides of the CT scanner table using any other type of securing mechan ism w ithout otherwise deterring the intended function of the docking mechnaism 100 as can be deduced from this description.
• the right floor plate 1 14 or the left floor plate 1 16 could be fixed on to respective sides of the CT scanner table using a fixing jig and secured using a removable securing mechanism.
• the medical device 200 includes a retractable wheels 202 and a foot plate 204.
• the retractable wheels 202 is Configured such that the medical device could be rested on the wheels 202 or on a foot plate 204.
• the first part 102 is fixed on to the foot plate 204.
• the first part 102 could be fixed on to any other elements of the medical device 200 with simple or no modification or with inclusion of certain elements to the medical device 200 or removing certain elements to the medical device 200 without otherwise deterring intended function of the docking mechanism as can be deduced from this description.
• the foot plate 204 is square shaped, such that one plate from the plurality of plates 106 is conencted to each side of the foot plate 204. Further each of the plate 106 includes two ball housings 108a having the sphere 109a and 108b having the sphere 109b. Further, if the user requires to dock the medical device 200 to the right side of the CT scanner table, the user can lower the medical device 200 such that the locating holes 1 141 in the right foot plate 1 14 receives the sphere 109a.
• the sphere 109a is provided having a diameter slightly higher than the diameter of the locating hole 1 141, such that the locating hole 1 141 could be configured to receive the sphere 109a up to a certain depth and then docks.
• the locating hole 1 141 further enables aligning the sphere 109a, such that the center of sphere 109a and the center of locating hole 1 141 l ies along the same axis.
• the relief hole 1 14r is configured to allow the sphere 109b to pass through it, such that the outer surface of the sphere 109b does not contact the inner surface of the relief hole 1 14r.
• the relief hole 1 14r is provided having a diameter considerably higher than the diameter of sphere 109b, such that the outer surface of the sphere ) 09b does not contact the inner surface of the relief hole 1 14r.
• the leveling bolt 1 10 is configured to adjust the inclination of device 200 to correspond to the orientation of CT scanner table (not shown).
• the leveling bo lt 1 10 is provided with a nut 1 12 to permanently lock the inclination of the device 200 in the final calibrated position.
• the leveling bolt 1 10 is a jack bolt.
• Fig. 4 depicts a medical device that is docked using a docking mechanism according to an embodiment of the present invention.
• the docking mechanism 100 further includes at least one camera
• the camera is mounted on to the bottom section of the foot plate 204 such that it is not in physical contact with the right floor plate 1 14 and the left floor plate 1 16 respectively.
• the camera is configured to read the pattern for camera detection 1 14p provided on each of the right floor plate 1 14 and the left floor plate 1 16 and captures the images of the pattern.
• the camera is configured to captures the images of the pattern for camera detection 1 14p provided on each of the right floor plate 1 14 and the left floor plate 1 16 and store the data with respect to the pattern as a reference image when the medical device 200 is first docked and calibrated.
• the camera when the medical device 200 is re-docked, the camera is configured to capture the new position of the pattern 1 14p and compare the new position of the pattern 1 14p with the reference image/pattern.
• the camera is configured to operate at a pixel level, thereby enabl ing detection of minute deviations.
• the docking mechanism 100 further includes a controller (not shown). The controller regulates the functioning of the camera, such that if the deviation in the orientation of the medical device detected by the camera is within a desired number of pixels, the controller alerts the user regarding complete docking. Further, if the deviation in the orientation o f the medical device exceeds desired number of pixels, the controller alerts the user regarding incomplete docking.
• the alerting cou ld be performed by a display device, an audio dev ice and so on.
• the controller includes a processor core that is configured to perform the comparison and to alert the user, a memory that is configured to store the reference pattern and programmable input/output peripherals that is configured to receive and send data to the camera or the display device.
• the clocking mechanism may include any other hardware device, combination of hardware devices, software devices or combination of hardware or software devices that could achieve one or more process discussed in the description.
• the first part 102 of the docking mechanism 100 include plurality of plunger switch; say a right plunger switch 1 1 8r and a left plunger switch 1 181.
• the right floor plate 1 14 and the left floor plate 1 16 include plunger receiving portion 120r and 1201 respectively.
• the first part 102, the right floor plate 1 14 and the left floor plate 1 16 are configured such that the plunger switch touches the plunger receiving portion 120r and 1201 provided in the right floor plate 1 14 and the left floor plate 1 16 respectively.
• the medical device 200 when the medical device 200 is docked to the right side of the CT scanner table, the medical device is lowered vertically such that the sphere 109a provided in the first part 102 is received by the locating hole 1 141 provided in the right floor plate 1 14 and the sphere 109b provided in the first part 102 is received by the relief hole 1 14r provided in the right floor plate 1 14. Further, the right plunger switch 1 18r comes in contact with the plunger receiving portion I 20r provided in the right floor plate 1 14. In an embodiment, the plunger switch 1 18r is provided with a repeatability of l Omicrons or lesser. The plunger switch 1 18r is configured to detect the orientation of medical device 200 with respect to CT scanner table during repeatable docking to an accuracy of 10 microns or lesser. Further, the plunger switch 1 18r is provided in communication with a display device that is configured to alert the user if the deviation in orientation is more than 10 microns.
• the medical device 200 when the medical device 200 is docked to the left side of the CT scanner table, the medical device is lowered vertically such that the sphere 109b provided in the first part 102 is received by the locating hole 1 161 provided in the left floor plate 1 16 and the sphere 109a provided in the first part 102 is received by the relief hole 1 16r provided in the left floor plate 1 16. Further, the left plunger switch 1 1 81 comes in contact with the plunger receiving portion 1 201 provided in the left floor plate 1 16. In an embodiment, the plunger switch 1 181 is provided with a repeatability of l Omicrons or lesser.
• the plunger switch 1 1 81 is configured to detect the orientation of medical device 200 with respect to CT scanner table during repeatable docking to an accuracy of 10 microns or lesser. Further, the plunger switch 1 1 8r is provided in communication with a display device that is configured to alert the user if the deviation in orientation is more than 10 microns.
• Fig. 6 and Fig. 7 depict a docked position and undocked position respectively of the docking mechanism with plunger switch accord ing to another embodiment of the present invention.
• the right floor plate 1 14 includes an extended , (raised) portion 1 14e around the right locating hole 1 141 such that when the the medical device is lowered vertically, the sphere 109a is received by the right locating ho le 1 141 and align against the extruding portion 1 14e.
• the extended (raised) portion 1 14e around the right locating hole 1 141 eliminates the need for providing a relief hole 1 14r, as the extruding portion 1 14e results in providing the sphere 109b in the free space between the top of the extruding portion 1 14e and the top of the right floor plate 1 14 when the medical device is- lowered.
• the left floor plate 1 16 includes an extended (raised) portion 1 16e around the right locating hole 1 161 such that when the the medical device is lowered vertical ly, the sphere 109b is received by the left locating hole 1 161 and align against the extruding portion 1 16e.
• the extended (raised) portion 1 16e around the left locating hole 1 161 eliminates the need for providing a relief hole 1 16r, as the extruding portion 1 16e results in providing the sphere 109a in the free space between the top of the extruding portion 1 1 6e and the top of the left floor plate 1 1 6 when the medical device is lowered.
• Fig. 8a and 8b depict a right floor plate and a left floor plate respectively according to another embodiment of the present invention.
• the aforementioned configuration of docking mechanism 100 is provided for the ease of understanding of the embodiments of the invention.
• certain embodiments may have a different configuration of the components of the docking mechanism 100 and certain other embodiments may exclude certain components of the docking mechanism 100.
• the docking mechanism could include any number of plates based on the surface to which the first part 102 is attached and based on the user requirement.
• the docking mechanism 100 could include any number of locating holes and any number of spheres depending upon the design of the device that has to be docked and based on user requirements. Therefore, such embodiments and any modification by addition or exclusion of certain components of the docking mechanis m 100 without otherwise deterring the intended function of the docking mechanism 100 as is apparent from this description and drawings are also within the scope of this invention.
• FIG. 9 is a flow chart depicting the method for docking a medical device 200 such as a robotic device corresponding to the CT scanner table according to an embodiment disclosed herein.
• the method includes securing the floor plate to the floor (step 302). At least one of right floor plate 1 14 and left floor plate 1 141 is fixed to the right side and left side of the CT scanner table respectively. In an embodiment, each of the right floor plate 1 14 and left floor plate 1 16 includes plurality of locating holes and relief holes.
• the first part 102 is attached to the foot plate 204 of the medical device 200 (step 304).
• the first part 1 02 includes plurality of plates 106 such that each side of the foot plate ' 204 includes at least one plate 106.
• Each of the plate 106 includes two ball housing 108a and 108b having the sphere 109a and 109b.
• the medical device 200 is docked to the right side of the CT scanner table, the medical device is lowered (step 306), such that the sphere 109a is received inside the locating hole 1 141 and the sphere 109b is received inside the relief hole 1 14r.
• the medical device 200 is docked to the left side of the CT scanner table, the medical device is lowered, such that the sphere 109b is received on to the locating hole 1 161 and the sphere 109a is received inside the relief hole 1 16r.
• the medical device 200 is leveled with respect to the CT scanner table (step 308).
• four leveling bolts 1 10 are provided on top of the ball housing 108 in order to level the medical device 200. Once leveled, the bolts 1 10 are locked permanently to preserve the calibration (step 310).
• the camera is configured to read the pattern for camera detection 1 14p provided on each of the right floor plate 1 14 and the left floor plate 1 16 and captures the images of the pattern.
• the camera is configured to captures the images of the pattern for camera detection 1 14p provided on each of the right floor plate 1 14 and the left floor plate 1 16 and store the data with respect to the pattern as a reference image when the medical device 200 is first docked and calibrated. Further, when the medical device 200 is re-docked, the camera is configured to capture the new position of the pattern 1 14p and compare the new position of the pattern 1 14p with the reference image/pattern. The camera is configured to operate at a pixel level, thereby enabling detection of minute deviations (step 3 12) .
• the docking mechanism 100 further includes a controller (not shown).
• the controller regulates the functioning of the camera, such that if the deviation in the orientation of the medical device, detected by the camera is within a desired number of pixels, the controller alerts the user regarding complete docking (step 314). Further, if the deviation in the orientation of the medical device exceeds desired number of pixels, the controller alerts the user regarding incomplete docking (step 3 16).
• the alerting could be performed by a display device, an audio device and so on.
• the controller includes a processor core that is configured to perform the comparison and to alert the user, a memory that is. configured to store the reference pattern and programmable input/output peripherals that is configured to receive and send data to the camera or the d isplay device.
• the docking mechanism may include any other hardware device, combination of hardware devices, software devices or combination of hardware or software devices that could achieve one or more process discussed below

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Citations (4)

• 2012
  • 2012-09-28 WO PCT/IN2012/000656 patent/WO2013144973A1/fr not_active Ceased

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