Magnetic-anchored robotic system

• US 10,179,033 B2
• Filed: 10/29/2015
• Issued: 01/15/2019
• Est. Priority Date: 04/26/2012
• Status: Expired due to Fees

• Current Assignee: Iemis Limited
• Original Assignee: Bio-medical Engineering (HK) Limited
• Inventors: Campbell, Archibald MacRobert, Cardwell, David Anthony, Durrell, John Hay, Shi, Yuanhua, Huang, Kai Yuan, Palmer, Kysen Grant Boyd, Dennis, Anthony Robert, Yeung, Chung Kwong
• Primary Examiner(s): Yang, Andrew
• Application Number:
  US14/927,048
• Publication Number:
  US 20160045273A1
• Time in Patent Office: 1,174 Days
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/3417 Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating syringe needles A61M5/32; dilators A61M29/00
• CPC Class Codes: A61B 17/3423 Access ports, e.g. toroid shape introducers for instruments or hands access sites for liquids A61M39/0247
• CPC Class Codes: A61B 2017/00283 with a device releasably connected to an inner wall of the abdomen during surgery, e.g. an illumination source
• CPC Class Codes: A61B 2017/00411 actuated by application of energy from an energy source outside the body
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2017/3484 Anchoring means, e.g. spreading-out umbrella-like structure
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/34 force feedback
• CPC Class Codes: Y10S 901/41 Tool
• CPC Class Codes: Y10T 428/13 Hollow or container type article [e.g., tube, vase, etc.]

Abstract

Present example embodiments relate generally to a surgical system comprising an internal anchor assembly configurable to be inserted into and positioned inside a cavity of a body. The surgical system further comprises an external anchor assembly configurable to magnetically couple to the internal anchor assembly. The external anchor assembly may comprise a magnetic assembly. The magnetic assembly may include one or more superconducting magnets configurable to generate a magnetic field. The magnetic assembly may further include a conductive housing for receiving the one or more superconducting magnets. The external anchor assembly may further include a temperature control section configurable to control a temperature of the one or more superconducting magnets via the conductive housing. The external anchor assembly may further include an external anchor body configurable to receive the magnetic assembly and the temperature control section. The external anchor body may be fixably positionable outside of the body.

Claims

1. An external anchor assembly for use with a surgical system, the surgical system having an internal anchor assembly configurable to be inserted into and positioned inside a cavity of a body, the external anchor assembly comprising:

a magnetic assembly having one or more superconducting magnets configurable to generate a magnetic field and a conductive housing for receiving the one or more superconducting magnets;

a temperature control section configurable to control a temperature of the one or more superconducting magnets via the conductive housing; and

an external anchor body configurable to receive the magnetic assembly and the temperature control section, the external anchor body fixably positionable outside of the body;

wherein the magnetic assembly is configurable to magnetically couple to the internal anchor assembly via the magnetic field.

2. The external anchor assembly of claim 1, wherein the magnetic assembly is configurable to generate the magnetic field with a magnitude of about 0 to 5 Tesla.

3. The external anchor assembly of claim 1, wherein the external anchor assembly is configurable to selectively vary the magnetic field applied at the internal anchor assembly between a magnitude of about 0 to 2 Tesla.

4. The external anchor assembly of claim 3, wherein, when the external anchor assembly magnetically couples to the internal anchor assembly, and when the magnetic assembly is magnetically coupled to the internal anchor assembly at a first separation distance from the internal anchor assembly, the external anchor assembly is configurable to vary the magnitude of the magnetic field applied at the internal anchor assembly by varying the first separation distance.

5. The external anchor assembly of claim 3, wherein

the external anchor assembly further comprises a support structure, the support structure selectively configurable to fixably position the external anchor body outside of the body,

the magnetic field applied at the internal anchor assembly is reduced by selectively configuring the support structure to increase the first separation distance, and

the magnetic field applied at the internal anchor assembly is increased by selectively configuring the support structure to decrease the first separation distance.

6. The external anchor assembly of claim 3, further comprising an intermediary member positionable between the external anchor body and the internal anchor assembly,

wherein the first separation distance is varied by selectively varying a dimension of the intermediary member.

7. The external anchor assembly of claim 6, wherein the intermediary member is an inflatable bladder.

8. The external anchor assembly of claim 1, wherein the external anchor assembly is configurable to selectively vary the generated magnetic field between a magnitude of about 0 to 5 Tesla.

9. The external anchor assembly of claim 8, wherein the external anchor assembly is configurable to selectively vary the generated magnetic field by varying a temperature of the one or more superconducting magnets.

10. The external anchor assembly of claim 9, wherein the external anchor assembly is configurable to selectively diminish the generated magnetic field by increasing the temperature of the one or more superconducting magnets to be equal to or greater than a critical temperature of between about 90 to 100 K.

11. The external anchor assembly of claim 1, wherein the magnetic assembly comprises a plurality of superconducting magnets configured in one or more vertically stacked arrangements.

12. The external anchor assembly of claim 11, wherein

each of the superconducting magnets comprise a circular cross-sectional shape with a radius,

each of the one or more vertically stacked arrangements of superconducting magnets has a collective height, and

the collective height is equal to or greater than the radius.

13. The external anchor assembly of claim 11, wherein

each of the superconducting magnets comprise a hexagonal cross-sectional shape with a first distance between opposing corners,

each of the one or more vertically stacked arrangements of superconducting magnets has a collective height, and

the collective height is equal to or greater than the first distance between opposing corners.

14. The external anchor assembly of claim 1, wherein the one or more superconducting magnets comprise Ba, Cu, and O.

15. The external anchor assembly of claim 1, wherein

the temperature control section comprises a heat rod and a cryo-cooler,

the heat rod is in contact with the conductive housing and the cryo-cooler,

the cryo-cooler is configurable to control the temperature of the superconducting magnets via the heat rod and the conductive housing,

the external anchor body includes an elongated body comprising a first end and a second end opposite the first end,

the elongated body of the external anchor body is configurable to receive the magnetic assembly at the first end,

the elongated body of the external anchor body is configurable to receive the cryo-cooler at the second end, and

the elongated body of the external anchor body is configurable to receive the heat rod at least between the first end and the second end.

16. The external anchor assembly of claim 1, further comprising an instrument assembly having an instrument at a first end and an instrument assembly attaching section at a second end,

wherein the internal anchor assembly further comprises an internal anchor attaching section, and

wherein the instrument assembly is configurable to secure to the internal anchor assembly by securing the instrument assembly attaching section to the internal anchor attaching section.

17. The external anchor assembly of claim 15, wherein, when the external anchor assembly is magnetically coupled to the internal anchor assembly via the applied magnetic field and the instrument assembly is secured to the internal anchor assembly, the instrument of the instrument assembly is operable to provide an applied force of between about 0 to 5 N.

18. The external anchor assembly of claim 1, further comprising a controller, the controller configurable to:

configure a magnitude of the magnetic field applied, by the magnetic assembly, at the internal anchor assembly; and

configure the temperature control section to control the temperature of the one or more superconducting magnets.

19. A surgical system comprising:

an internal anchor assembly, the internal anchor assembly configurable to be inserted into and positioned inside a cavity of a body; and

an external anchor assembly configurable to magnetically couple to the internal anchor assembly, the external anchor assembly including;

a magnetic assembly having one or more superconducting magnets configurable to generate a magnetic field and a conductive housing for receiving the one or more superconducting magnets;

a temperature control section configurable to control a temperature of the one or more superconducting magnets via the conductive housing; and

an external anchor body configurable to receive the magnetic assembly and the temperature control section, the external anchor body fixably positionable outside of the body.

20. The surgical system of claim 19, wherein the magnetic assembly is configurable to generate the magnetic field with a magnitude of about 0 to 5 Tesla.

21. The surgical system of claim 19, wherein the external anchor assembly is configurable to selectively vary the magnetic field applied at the internal anchor assembly between a magnitude of about 0 to 2 Tesla.

22. The surgical system of claim 21, wherein, when the external anchor assembly magnetically couples to the internal anchor assembly, and when the magnetic assembly is magnetically coupled to the internal anchor assembly at a first separation distance from the internal anchor assembly, the external anchor assembly is configurable to vary the magnitude of the magnetic field applied to the internal anchor assembly by varying the first separation distance.

23. The surgical system of claim 22, wherein

the external anchor assembly further comprises a support structure, the support structure selectively configurable to fixably position the external anchor body outside of the body,

the magnetic field applied at the internal anchor assembly is reduced by selectively configuring the support structure to increase the first separation distance, and

the magnetic field applied at the internal anchor assembly is increased by selectively configuring the support structure to decrease the first separation distance.

24. The surgical system of claim 22, further comprising an intermediary member positionable between the external anchor assembly and the internal anchor assembly,

wherein the first separation distance is varied by selectively varying a dimension of the intermediary member.

25. The surgical system of claim 24, wherein the intermediary member is an inflatable bladder.

26. The surgical system of claim 19, wherein the external anchor assembly is configurable to selectively vary the generated magnetic field between a magnitude of about 0 to 5 Tesla.

27. The surgical system of claim 26, wherein the external anchor assembly is configurable to selectively vary the generated magnetic field by varying a temperature of the one or more superconducting magnets.

28. The surgical system of claim 27, wherein the external anchor assembly is configurable to selectively diminish the generated magnetic field by increasing the temperature of the one or more superconducting magnets to be equal to or greater than a critical temperature of between about 90 to 100 K.

29. The surgical system of claim 19, wherein the magnetic assembly comprises a plurality of superconducting magnets configured in one or more vertically stacked arrangements.

30. The surgical system of claim 29, wherein

each of the superconducting magnets comprise a circular cross-sectional shape with a radius,

each of the one or more vertically stacked arrangements of superconducting magnets has a collective height, and

the collective height is equal to or greater than the radius.

31. The surgical system of claim 29, wherein

each of the superconducting magnets comprise a hexagonal cross-sectional shape with a first distance between opposing corners,

each of the one or more vertically stacked arrangements of superconducting magnets has a collective height, and

the collective height is equal to or greater than the first distance between opposing corners.

32. The surgical system of claim 19, wherein the one or more superconducting magnets comprise Ba, Cu, and O.

33. The surgical system of claim 19, wherein:

the temperature control section comprises a heat rod and a cryo-cooler,

the heat rod is in contact with the conductive housing and the cryo-cooler,

the cryo-cooler is configurable to control the temperature of the superconducting magnets via the heat rod and the conductive housing,

the external anchor body includes an elongated body comprising a first end and a second end opposite the first end,

the elongated body of the external anchor body is configurable to receive the magnetic assembly at the first end,

the elongated body of the external anchor body is configurable to receive the cryo-cooler at the second end, and

the elongated body of the external anchor body is configurable to receive the heat rod at least between the first end and the second end.

34. The surgical system of claim 19, further comprising an instrument assembly having an instrument at a first end and an instrument assembly attaching section at a second end,

wherein the internal anchor assembly further comprises an internal anchor attaching section, and

wherein the instrument assembly is configurable to secure to the internal anchor assembly by securing the instrument assembly attaching section to the internal anchor attaching section.

35. The surgical system of claim 34, wherein, when the external anchor assembly is magnetically coupled to the internal anchor assembly via the applied magnetic field and the instrument assembly is secured to the internal anchor assembly, the instrument of the instrument assembly is operable to provide an applied force of between about 0 to 5 N.

36. The surgical system of claim 19, further comprising a controller, the controller configurable to:

configure a magnitude of the magnetic field applied, by the magnetic assembly, at the internal anchor assembly; and

configure the temperature control section to control the temperature of the one or more superconducting magnets.