WO2011057031A1

WO2011057031A1 - Remote manipulation apparatus and system

Info

Publication number: WO2011057031A1
Application number: PCT/US2010/055530
Authority: WO
Inventors: Ross Teggatz; Wayne Chen
Original assignee: Triune Ip Llc
Priority date: 2009-11-04
Filing date: 2010-11-04
Publication date: 2011-05-12

Abstract

The disclosed invention provides systems and apparatus (10) for delivering a payload (32) in a confined space. A finger support (12) is retained on the finger of a user, having a proximal end (22) and a distal end (17). One of various forms of payload holder (37) is included at the distal end (17) of the finger support (12) for holding a payload (32) during positioning and prior to delivery. Means (24, 34) are included for the purpose of ejecting the payload (32) from the payload holder (37) when actuated by a user.

Description

REMOTE MANIPULATION APPARATUS AND SYSTEM

PRIORITY ENTITLEMENT

[001] This application is entitled to priority based on Provisional Patent Application Serial Number 61/257,852 filed on November 4, 2009. This application and the Provisional Patent Application have at least one common inventor. The present application is related to, and has one or more inventors in common with, Application Number 12/782,529 filed on May 18, 2010, which is hereby incorporated herein for all purposes by this reference.

TECHNICAL FIELD

[002] The invention relates to apparatus and systems for manipulating objects in hard- to-access locations. More particularly, the invention relates to apparatus for manipulating sensor, tool, or other objects in remote or confined spaces.

BACKGROUND OF THE INVENTION

[003] In many situations in diverse fields such as those relating to medicine, mechanics, or electronics, it is challenging to visually locate a target area in a remote or confined location. In such situations, guesswork and/or the sense of touch are generally used as the guides to approaching the target location.

[004] In the medical field, for example, there are several situations where the physician, nurse, or caretaker needs to administer medication to a patient, but is unable to visually guide and determine the placement of the medication. Some post- childbirth medication used to reduce or eliminate hemorrhaging, for example, requires injection via a syringe into the uterus muscle lining. The current method for injecting this medication is to penetrate a long needle through the skin on the outside of the abdomen, through the abdominal muscles, and then finally reaching the uterus. As it is difficult to determine the exact location and placement of the appropriate uterus lining muscles immediately after birth, this procedure can be risky. Also relating to the medical field, it is sometimes desirable to place instrumentation in hard-to-access locations. For pre -birth prepping, for example, a heart rate monitor is sometimes inserted into the uterus to monitor the baby's condition. For the heart rate monitor electrode, the device is actually screwed into the top of the skull of the infant; however, since access is through the opening of the cervix, placement is difficult to precisely determine. In some instances, the electrode is positioned incorrectly, and screwed into another area of the infant's head.

[005] In mechanical and electrical applications, there are also situations in which a screw, nut, bolt or other part is difficult to reach and manipulate or position visually. In some situations, by using the tip of the finger, someone performing assembly or repair tasks can feel for the head of the screw, nut, or bolt in order to determine its location. However, it is nevertheless often difficult to subsequently position the head of a tool such as a screwdriver or socket wrench to engage with the screw or other fastener or part for further manipulation.

[006] In the veterinary field, many medications for animals are required to be taken orally. It is often difficult or impossible to gain the cooperation of the animal. As a result, there is a risk of a user's fingers being bitten as the medication is inserted into the mouth. In addition to making veterinary care more difficult, there is a significant risk of the caretaking receiving an injury. Similar problems are sometimes encountered in the task of administering medication to small children or other persons who may be prone to bite.

[007] Due to the foregoing and possibly additional problems, improved apparatus and systems for manipulating objects in remote, difficult-to-access locations would be a useful contribution to the arts. SUMMARY OF THE INVENTION

[008] In carrying out the principles of the present invention, in accordance with preferred embodiments, the invention provides advances in the arts with useful and novel apparatus and systems for manipulating objects within very confined spaces and remote locations. Exemplary embodiments described herein include apparatus related to medical, veterinary, and mechanical endeavors. The embodiments described herein are intended to be exemplary and not exclusive. Variations in the practice of the invention are possible, and preferred embodiments are illustrated and described for the purposes of clarifying the invention. All possible variations within the scope of the invention cannot, and need not, be shown. Various configurations are described of apparatus having a payload holder such as a syringe or roughly fingertip-sized platform for retaining a payload such as medication, tool, or other device.

[009] According to one aspect of the invention, in an example of a preferred embodiment, apparatus for injecting medication in a confined area includes a finger support designed to be secured to a finger of a user. A syringe assembly is substantially aligned with the distal end of the finger support and has a medicine container with a needle deployable from within a sheath. A plunger is provided for ejecting the medicine from the container through the needle. The apparatus is arranged so that the plunger may be actuated at the proximal end of the finger support.

[010] According to additional aspects of the invention, a preferred embodiment of apparatus for administering oral medication includes a finger support for securing the apparatus to the finger of a user by encasing the finger within. The finger support is configured such that a solid medicament may be retained between the finger support surface and the finger. An ejector is positioned longitudinally within the finger support extending at least from end-to-end. The ejector is operable for pushing a solid medicament retained between the finger support surface and the finger for the purpose of expelling the medicament from the apparatus. [Oil] According to another aspect of the invention, apparatus for installing a sensor in a confined area includes a finger support adapted for securing to a finger of a user. A distal end of the finger support is configured such that a sensor may be retained between the finger support surface and the user's finger, maneuvered to a target location, and installed. The finger support is configured to be readily withdrawn without displacing the sensor.

[012] According to yet another aspect of the invention, apparatus for manipulating a tool to a target location within a confined space includes a finger support with a retainer for securing the apparatus. A tool is positioned at the distal end of the finger support and a tool actuator is provided at the proximal end of the finger support such that the tool may be actuated when positioned at a target location.

[013] According to still another aspect of the invention, apparatus for delivering a payload in a confined has a finger support adapted for securing to a finger of a user. A payload holder is included at the distal end of the finger support for holding a payload during positioning. An ejector for ejecting the payload from the payload holder is configured for actuation at the proximal end.

[014] According to another aspect of the invention, a system for positioning and depositing a payload in a confined space includes a finger support and retainer adapted for securing the apparatus to a finger of a user. A camera module is situated at the distal end of the finger support along with a payload holder. An ejector secured to the finger support is operable for ejecting the payload by actuation at the proximal end.

[015] The invention has advantages including but not limited to providing one or more of the following features, reduced medical patient discomfort, reduced medical personnel and/or technician training and/or experience requirements, improved success in manipulating objects in difficult-to-access locations, reduced costs. These and other advantages, features, and benefits of the invention can be understood by one of ordinary skill in the arts upon careful consideration of the detailed description of representative embodiments of the invention in connection with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

[016] The present invention will be more clearly understood from consideration of the description and drawings in which:

[017] Figure 1 is a partial cutaway side view of an example of a preferred embodiment of apparatus according to the invention;

[018] Figures 2 A through 2H are a series of side views of an example of apparatus according to a preferred embodiment of the invention;

[019] Figure 3 is a perspective view of an example of an alternative embodiment of the invention;

[020] Figure 4 provides perspective views of an example of another alternative embodiment of the invention;

[021] Figure 5 is a perspective view of an example of an alternative embodiment of the invention;

[022] Figure 6 is a perspective view of an example of an alternative embodiment of the invention;

[023] Figure 7 is a perspective view of an example of another alternative embodiment of the invention;

[024] Figure 8 is a perspective view of an example of an alternative embodiment of the invention; and

[025] Figure 9 is a perspective view of an example of an alternative embodiment of the invention.

[026] References in the detailed description correspond to like references in the various drawings unless otherwise noted. Descriptive and directional terms used in the written description such as front, back, top, bottom, upper, side, et cetera; refer to the drawings themselves as laid out on the paper and not to physical limitations of the invention unless specifically noted. The drawings are not to scale, and some features of embodiments shown and discussed are simplified or amplified for illustrating principles and features as well as advantages of the invention.

DESCRIPTION OF PREFERRED EMBODIMENTS

[027] Referring initially to Figure 1, a side view of a preferred embodiment of apparatus 10 for injecting medication in confined areas has a finger support 12. Preferably, the finger support 12 is wearable on the finger of a user, having a retaining ring 13 to encircle the finger of a user (not shown). The finger support 12 also preferably includes an open area 15 at the distal end 17 to expose at least a portion of the user's finger to permit the user to obtain tactile feedback when manipulating and positioning the apparatus 10. A syringe assembly 14 attached to the finger support 12 may be used for dispensing medication. Now referring additionally to the series of Figures 2A-2H, illustrating the operation of a preferred embodiment of the invention, as shown in the partial cutaway view of Figure 2A, a protective sheath 16 is preferably used to cover the needle 18 of the syringe assembly 14 during movement and positioning. A plunger 20 preferably extends from the syringe assembly 14, beyond the proximal end 22 of the finger support 12. When the distal end 17 of the syringe assembly 14 is in positioned adjacent to a target, a locking mechanism, such as an arrangement of tabs 21 in this example, may be disengaged so that the needle 18 can be permitted to extend past the sheath 16. Preferably, pushing the plunger 20 forward also moves the body 23 of the syringe assembly 14. Further extension of the plunger 20 causes the medication 25 within the body 30 of the syringe assembly 14 to be dispensed through the needle 18. When the apparatus 10 has been properly positioned, for example, when the user's finger (not part of the invention) has guided the apparatus 10 to the uterus of a patient, the user's opposite hand may be used to operate the plunger 20 to control the extension of the needle 18 into the uterus, and then control the injection of medication 25. In the sequence of events depicted in Figures 2A and 2B, the user guides the apparatus 10 toward its intended target (not part of the invention), preferably using the sense of touch provided by the exposed portion of the finger. Upon reaching the target location as shown in Figure 2B, the user may then deploy the syringe assembly 14, as illustrated in Figure 2C. Preferably, the syringe assembly 14 is propelled forward, past the distal end 17 of the finger support 12, using the plunger 20, after disengaging the locking mechanism 21. As shown in Figure 2D, the needle 18 may be inserted into the target. Thereafter, as depicted in Figure 2E, the contents of the syringe body 23 may then be injected into the target by the operation of the plunger 20. Preferably, the syringe assembly 14 may be retracted by moving the plunger 20 in the reverse direction, as illustrated in Figure 2F. In the preferred embodiment shown, the syringe assembly 14 includes a rotatable locking mechanism 21 having interlocking tabs, referring to Figure 2G, for locking the syringe assembly 14 with the needle 18 in a retracted position. Other locking mechanisms such as springs, tensioners, or locking rings may also be used. The user then removes the apparatus 10 by withdrawing the finger as indicated by the arrow Figure 2H. [028] Now referring primarily to Figure 3, In another example of a preferred embodiment according to the invention, apparatus 10 suitable for inserting a sensor device 32 into the uterus and leaving it there is shown. A finger support structure 12 is used to wrap around the finger leaving the finger tip exposed as in the above- described embodiment. In some instances, a shim 39 designed for insertion into the finger support 12 may be used to ensure a snug fit between the finger support 12 and the finger. In this implementation, a sensor device 32 having an electrode 31 is to be inserted and left in the womb. The payload holder in this case is a platform 37 at the distal end 17 of the finger supportl2. In many cases, such sensors 32 are connected to external electronics by a wire 33. In such cases, the apparatus 10 is preferably used to install the sensor 32 in the correct location, and is then withdrawn, leaving the wire 33 in place without dislodging the sensor 32. The finger support 12 contains a receptacle for holding the sensor 32 and means for holding the wire 33. In this case, a tube 34 is provided in the shaft 24 of finger support structure 12. The tube 34 preferably holds the sensor 32 at its distal end 17 and contains the wire 33, which exits at its proximal end 22. Once the sensor 32 is placed, the apparatus 10 may be withdrawn toward the proximal end 22 of the wire 33 and removed from the vaginal cavity, leaving the sensor 32 and wire 33 in place.

[029] In an example of an alternative preferred embodiment of the invention, Figure 4 portrays apparatus for placing medication, such as pills or capsules, within the mouth of a patient, particularly in cases where the potential for biting is a concern, such as with children or animals. The medicament is placed between the tip of the finger and the apparatus. Note that the finger support 12 completely surrounds the finger, thereby providing protection from biting. Located on the inner wall of the applicator is a built- in plunger/push-rod 40 that may be used to expel the medication when the finger is bent as shown. [030] An alternative embodiment is depicted in Figure 5, in which a payload holder may include a syringe 36, which may be activated by an plunger extending the length of the shaft 24 to the proximal end 22 of the apparatus as shown in other embodiments, or by a plunger actuated by the finger for dispensing a liquid or gel as in this example of a needle-less syringe 36. Also shown in this alternative embodiment, the retainer 14 may be annulus-shaped, retaining the apparatus 10 on the finger of the user similar to the wearing of a ring. As depicted in Figure 6, an absorbent tip 38 may be carried at the distal end 17 of the apparatus 10, either incorporated into the finger support 12 of the apparatus 10, or preferably as a removable attachment at the distal end 17 of the shaft 24. The absorbent tip 38 may be used for applying a fluid or powder or for gathering a sample by being brought into contact with a target location. In an additional alternative embodiment illustrated in Figure 7, the distal end 17 of the apparatus 10 may include a clamp 40 having one or more moveable jaws 42, preferably mechanically coupled to the shaft 24 for activation at the proximal end 22. In this configuration, the apparatus 10 may be used to deliver a payload by gripping it during transport and releasing it when the target area is reached. Additionally, or alternatively, the clamping mechanism 40 may be adapted for the retrieval of a payload from a remote location. In a further example of a representative embodiment of the invention, Figure 8 shows apparatus 10 which includes a sensor module 44, in this example, a camera. Preferably, the camera module 44 is carried at the distal end 17. The camera module 44 preferably includes an image sensor within, preferably actuated by the shaft 24, or by remote electronics, or by finger pressure applied by a user. The camera module 44 may include internally, a power source such as a battery, and/or electronic memory for recording images (not shown). The sensor, e.g., camera, module 44 may also include wiring 48 electrically connecting it with power and/or memory or display devices 50 residing off of the apparatus 10, preferably external to the hard-to-access location. Incorporation of a sensor module with the apparatus of the invention may be used for acquiring data such as still or video images, for exploratory or diagnostic purposes for example, or may be included with deliverable payloads and used to guide payload positioning and placement.

[031] For mechanical or electrical applications, there are situations where a screw, nut, or bolt is difficult to visually locate, but using the tip of one's finger the user can guide the head of a tool to the screw, nut, or bolt. Figure 9 illustrates an implementation of a device which may be used to guide the tip 90 of a screwdriver onto the head of a screw (not shown). The apparatus 10 is preferably guided by the finger of a user, the fastener location determined, and the tool applied, in this example a screw and screwdriver tip 90 respectively. At the proximal end 22 of the apparatus, a hand-piece 92 provided a mechanical connection 93 through the shat 24 has the capability to turn the tip 90 of the screwdriver. Similarly, the appropriate tool end piece may be substituted for use with screws of different geometry or sizes, for hexagonal sockets, torx, alien heads, or other types of threaded fasteners.

[032] While the making and using of various exemplary embodiments of the invention are discussed herein, it should be appreciated that the apparatus and techniques for its use exemplify inventive concepts which can be embodied in a wide variety of specific contexts. It should be understood that the invention may be practiced in various applications and embodiments without altering the principles of the invention. For purposes of clarity, detailed descriptions of functions, components, and systems familiar to those skilled in the applicable arts are not included. In general, the invention provides apparatus, systems, and related techniques for manipulating objects at selected target locations in remote and/or confined spaces. The invention is described in the context of representative example embodiments. Although variations and alternatives for the details of the embodiments are possible, each has one or more advantages over the prior art.

[033] The systems and methods of the invention provide one or more advantages including but not limited to one or more of; increased accuracy and success in the placement of payloads in a confined space, decreased training time for medical and/or technician personnel, providing a cost-effective, device, facilitating faster treatment and reduced costs. While the invention has been described with reference to certain illustrative embodiments, those described herein are not intended to be construed in a limiting sense. For example, variations or combinations of features or materials in the embodiments shown and described may be used in particular cases without departure from the invention. Although the presently preferred embodiments are described herein in terms of particular examples, modifications and combinations of the illustrative embodiments as well as other advantages and embodiments of the invention will be apparent to persons skilled in the arts upon reference to the drawings, description, and claims.

Claims

WE CLAIM:

1. Apparatus for injecting medication in a confined area comprising:

a finger support having one or more retainer adapted for securing the apparatus to a finger of a user, the finger support also having a proximal end and a distal end;

a syringe assembly substantially aligned with the distal end of the finger support and further comprising a medicine container with a needle deployable from within a sheath; and

a plunger operable for ejecting the medicine form the container through the needle, the plunger configured for actuation at the proximal end.

2. Apparatus for injecting medication in a confined area according to claim 1 wherein the finger support further comprises an open area at the distal end configured for providing tactile feedback to a user.

3. Apparatus for injecting medication in a confined area according to claim 1 wherein the syringe assembly further comprises a locking mechanism for locking the needle in a sheathed position.

4. Apparatus for injecting medication in a confined area according to claim 1 suitable for use in a human uterus.

5. Apparatus for administering oral medication comprising:

a finger support adapted for securing the apparatus to a finger of a user by encasing the finger within, the fmger support also having a proximal end and a distal end wherein the finger support is configured such that a solid medicament may be retained between the finger support surface and a finger of a user;

a push rod positioned longitudinally within the finger support extending from at least the proximal end to the distal end;

wherein the push rod is operable for pushing a solid medicament retained between the finger support surface and a finger of a user for the purpose of expelling the medicament from the apparatus.

6. Apparatus for installing a sensor in a confined area comprising:

a tube substantially parallel to the longitudinal axis of the finger support, the tube also having a proximal end and a distal end, wherein the tube is adapted to assist in retaining a sensor at its distal end , and wherein the tube is adapted to permit passage of a wire within;

whereby a sensor retained at the distal end of the tube may be maneuvered to a target location in confined area and installed, and is configured for subsequent withdrawal without displacing the sensor.

7. The apparatus according to claim 6 wherein the sensor further comprises a wireless sensor.

8. The apparatus according to claim 6 wherein the sensor further comprises an electrochemical sensor.

9. The apparatus according to claim 6 wherein the sensor further comprises an electronic sensor.

10. The apparatus according to claim 6 wherein the sensor further comprises an image sensor.

11. Apparatus for manipulating a tool to a target location within a confined space, comprising:

a tool positioned at the distal end of the finger support; and

a tool actuator configured for operation at the proximal end of the finger support whereby the tool may be actuated with the distal end positioned at a target location.

12. The apparatus according to claim 11 wherein the tool further comprises a screwdriver.

13. The apparatus according to claim 11 wherein the tool further comprises a socket.

14. The apparatus according to claim 11 wherein the tool further comprises an absorbent swab.

15. Apparatus for delivering a payload in a confined space comprising:

a payload holder at the distal end of the finger support for holding a payload during positioning prior to delivery; and

ejecting means secured to the finger support and operable for ejecting the payload from the payload holder, the ejecting means configured for actuation at the proximal end.

16. The apparatus of claim 15 wherein the payload holder further comprises a syringe.

17. The apparatus of claim 15 wherein the payload holder further comprises a moveable jaw.

18. The apparatus of claim 15 wherein the payload holder further comprises at least two moveable jaws.

19. A system for positioning and depositing a payload in a confined space

comprising:

a camera module at the distal end of the finger support;

a payload holder at the distal end of the finger support for holding a payload during positioning prior to depositing; and

20. The system of claim 19 further comprising an electrical connection for linking the camera module with an external power source.

21. The system of claim 19 further comprising a electrical output connection for linking the camera module with an external data receiver.

22. The system of claim 19 further comprising a electrical output connection for linking the camera module with an external display.

23. The system of claim 19 further comprising a electrical output connection for linking the camera module with an external memory.

24. The system of claim 19 wherein the camera module further comprises on- support memory.

25. The system of claim 19 wherein the camera module further comprises an on- support power source.