Robotic surgical devices, systems, and related methods

• US 10,111,711 B2
• Filed: 07/15/2015
• Issued: 10/30/2018
• Est. Priority Date: 07/11/2011
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Farritor, Shane, Wortman, Tyler, Strabala, Kyle, McCormick, Ryan, Lehman, Amy, Oleynikov, Dmitry
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US14/800,423
• Publication Number:
  US 20160015461A1
• Time in Patent Office: 1,203 Days
• Field of Search: 700245, 700264, 600102, 600228, 600229, 606 1, 606130
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 90/30 Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 9/0087 Dual arms double SCARA arms B25J9/043
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: G05B 2219/40418 Presurgical planning, on screen indicate regions to be operated on
• CPC Class Codes: H04L 41/0631 using root cause analysis; using analysis of correlation between notifications, alarms or events based on decision criteria, e.g. hierarchy, tree or time analysis
• CPC Class Codes: H04L 43/08 Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/19 Drive system for arm

Abstract

The embodiments relate to various medical device components, including components that are incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.

Claims

1. A robotic device sized to be positioned completely within a patient, the device comprising:

a. a body component;

b. a first rotating shoulder component;

c. a second rotating shoulder component;

d. a first movable segmented robotic arm operationally connected to the body component by way of the first shoulder component, the first movable segmented robotic arm comprising;

i. an upper first arm link;

ii. a lower first arm link;

iii. a first operational component; and

iv. at least one first arm motor;

e. a second movable segmented robotic arm operationally connected to the body component by way of the second shoulder component, the second movable segmented robotic arm comprising;

i. an upper second arm link;

ii. a lower second arm link;

iii. a second operational component; and

iv. at least one second arm motor; and

f. an elongate support beam operably coupled to the body component at a distal end of the support beam, wherein the elongate support beam is configured to be positionable through a port into a body cavity of the patient such that a distal portion of the elongate support beam is positioned within the body cavity and a proximal portion of the elongate support beam is positioned outside the body cavity.

2. The surgical robotic device of claim 1, wherein the robotic device may be assembled within the body cavity of the patient.

3. The surgical robotic device of claim 1, further comprising

a first support rod disposed through a first lumen in the support beam and operably coupled at a distal end of the first support rod with the body component.

4. The surgical robotic device of claim 3, further comprising a second support rod disposed through a second lumen in the support beam and operably coupled at a distal end of the second support rod with the body component.

5. The surgical robotic device of claim 4, wherein the elongate support beam further comprises a third lumen configured to receive at least one connection component.

6. The surgical robotic device of claim 1, wherein the first operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an operational arm component, a sensor component, and a lighting component.

7. The surgical robotic device of claim 1, wherein the second operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an operational arm component, a sensor component, and a lighting component.

8. The surgical robotic device of claim 1 wherein the at least one first arm motor is configured for operation, rotation or movement of at least one of the first shoulder, the first segmented arm, and the first operational component.

9. The modular surgical robotic device of claim 1, wherein the at least one second arm motor is configured for operation, rotation or movement of at least one of the second shoulder, the second segmented arm, and the second operational component.

10. The surgical robotic device of claim 1, wherein the first and second operational components rotate relative to the first and second segmented arms.

11. The surgical robotic device of claim 1, wherein the first and second segmented arms are capable of jointed movement.

12. A method of performing minimally invasive surgery on a patient, comprising:

a. providing a surgical robot system comprising;

i. a robotic device sized to be positionable within a cavity of a patient, the device comprising;

A. a body;

B. a first robotic arm having one or more segments;

C. a first shoulder joint disposed between the body and the first robotic arm;

D. a first operational component operably coupled with the first arm;

E. a second robotic arm having one or more segments;

F. a second shoulder joint disposed between the body and the second robotic arm;

G. a second operational component operably coupled with the second arm; and

H. at least one motor housed within the surgical robot;

ii. an elongate support beam comprising at least two lumens;

iii. at least one support rod disposed through one of the at least two lumens, wherein the at least one support rod is coupleable at a distal end of the at least one support rod to the body; and

iv. at least one connection component disposed through another of the at least two lumens;

b. inserting the robotic device into the cavity of the patient in an at least partially unassembled state through a port positioned within an incision in fluid communication with the cavity of the patient;

c. assembling the robotic device inside the cavity of the patient;

d. positioning the elongate support beam through the port such that a distal portion of the elongate support beam is disposed within the cavity and a proximal portion of the elongate support beam is disposed outside of the cavity;

e. coupling a distal end of the elongate support beam and a distal end of the at least one support rod to the body of the device; and

f. performing a procedure with the robotic device supported by the elongate support beam and disposed entirely within the cavity of the patient.

13. A surgical robotic system, comprising:

a. a robotic device sized to be positioned completely within a cavity of a patient, the device comprising;

i. a device body comprising a first body component and a second body component;

ii. a first rotating shoulder component operably coupled to the first body component;

iii. a first movable segmented robotic arm operationally connected to the first shoulder component;

iv. a first operational component operationally connected to the first robotic arm;

v. a second rotating shoulder component operably coupled to the second body component;

vi. a second movable segmented robotic arm operationally connected to the second shoulder component;

vii. a second operational component operationally connected to the second robotic arm;

viii. at least one actuator housed within the robotic device; and

ix. a camera;

b. a support beam comprising at least two lumens, wherein the support beam is coupled at a distal end to the device body;

c. a first support rod disposed within one of the at least two lumens of the support beam; and

d. a first connection component disposed within another of the at least two lumens of the support beam, the first connection component being operably coupled at a distal end to the device body,

wherein the support beam is configured to be positionable through a port positioned within an incision in fluid communication with the cavity of the patient such that a distal portion of the support beam is disposed within the cavity and a proximal portion of the support beam is disposed outside the cavity.

14. The surgical robotic system of claim 13, wherein the actuators are capable of operation, rotation or movement of at least one of the first shoulder, the second shoulder, the first segmented arm, the second segmented arm, the first operational component, and the second operational component.

15. The surgical robotic system of claim 13, wherein the at least one actuator is housed within the group consisting of the first base unit, the second base unit, the first shoulder, the second shoulder, the first segmented arm, the second segmented arm, the first operational component, the second operational component, and the support beam.

16. The surgical robotic system of claim 13, wherein the first and second operational components are chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an operational arm component, a sensor component, and a lighting component.

17. The surgical robotic system of claim 13, wherein the first and second segmented arms are capable of jointed movement.

18. The surgical robotic system of claim 13, wherein the modular robotic device is assembleable within the body cavity of the patient.

19. The surgical robotic system of claim 18, further comprising an external controller configured to be positioned outside the cavity of the patient, the external controller being operably coupled to the robotic device via the first connection component.

20. The surgical robotic system of claim 13, wherein the support beam further comprises first and second distal legs.

21. The robotic surgical system of claim 20, wherein the first distal leg is operably coupled to the first body component and the second distal leg is operably coupled to the second body component.