Multifunctional operational component for robotic devices

• US 10,376,323 B2
• Filed: 02/05/2018
• Issued: 08/13/2019
• Est. Priority Date: 06/22/2006
• 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, Lehman, Amy, Rentschler, Mark, Wood, Nathan, Dumpert, Jason, Oleynikov, Dmitry
• Primary Examiner(s): Downey, John R
• Application Number:
  US15/888,723
• Publication Number:
  US 20180153631A1
• Time in Patent Office: 554 Days
• 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 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: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: B33Y 80/00 Products made by additive manufacturing

Abstract

The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.

Claims

1. A robotic device, comprising:

(a) an elongate device body constructed and arranged to be positionable within a cavity of a patient;

(b) a connection component operably coupled with the elongate device body;

(c) a first operational arm comprising;

(i) a first inner arm segment operably coupled with the device body via a first shoulder joint at a first end of the elongate device body;

(ii) a first outer arm segment operably coupled with the first inner arm segment via a first elbow joint; and

(iii) a first procedural tool operably coupled with the first outer arm segment;

(e) a second operational arm comprising;

(i) a second inner arm segment operably coupled with the device body via a second shoulder joint at a second end of the elongate device body;

(ii) a second outer arm segment operably coupled with the second inner arm segment via a second elbow joint; and

(iii) a second procedural tool operably coupled with the second outer arm segment; and

(f) at least one actuator disposed within each arm, the at least one actuator being configured to actuate movement of the arm, wherein the at least one actuator is operably coupled to a physical linkage extending to an external component.

2. The robotic device of claim 1, wherein each of the first and second operational arms has at least four degrees of freedom.

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

(a) at least one imaging component operably coupled to the device body; and

(b) an external controller operably coupled to the device body, the external controller comprising;

(i) an image display component operably coupled to the at least one imaging component, the image display component configured to display images acquired by the at least one imaging component; and

(ii) at least one joystick operably coupled to at least one of the first and second operational arms, the at least one joystick configured to control the at least one of the first and second operational arms via the physical linkage.

4. The robotic device of claim 1, wherein each of the first and second operational arms has at least three degrees of freedom.

5. The robotic device of claim 1, wherein the first and second procedural tools are each chosen from a group consisting of a scalpel, a biopsy tool, a cauterizer, a forceps, a dissector, clippers, a stapler, and an ultrasound probe.

6. The robotic device of claim 1, wherein the connection component is a tether.

7. The robotic device of claim 1, wherein the external component is an external power source operably coupled to the physical linkage.

8. The robotic device of claim 1, further comprising at least one imaging component operably coupled with the device body, wherein the at least one imaging component is disposed between the first and second operational arms such that the first and second operational arms are viewable by a user via the at least one imaging component during operation of the first and second operational arms.

9. The robotic device of claim 8, further comprising an external controller operably coupled to the first and second operational arms and the at least one imaging component.

10. The robotic device of claim 9, wherein the external controller comprises:

(a) an image display component operably coupled to the at least one imaging component, the image display component configured to display images acquired by the at least one imaging component; and

(b) at least one joystick operably coupled to at least one of the first and second operational arms, the at least one joystick configured to control the at least one of the first and second operational arms.

20. The robotic device of claim 7, wherein the physical linkage is an actuation system.

11. A robotic device, comprising:

(a) an elongate device body constructed and arranged to be positionable within a cavity of a patient, the elongate device body comprising a first shoulder joint at a first end and a second shoulder joint at a second end opposite the first end;

(b) a connection component operably coupled with the elongate device body;

(c) a first operational arm comprising;

(i) a first inner arm segment operably coupled with the device body via the first shoulder joint;

(ii) a first outer arm segment operably coupled with the first inner arm segment via a first elbow joint; and

(iii) a first procedural tool operably coupled with the first outer arm segment;

(d) a second operational arm comprising;

(i) a second inner arm segment operably coupled with the device body via the second shoulder joint;

(ii) a second outer arm segment operably coupled with the second inner arm segment via a second elbow joint; and

(iii) a second procedural tool operably coupled with the second outer arm segment;

(f) at least one actuator disposed within each arm, the at least one actuator being configured to actuate movement of the arm, wherein the at least one actuator is operably coupled to a physical linkage extending to an external component; and

(g) at least one imaging component operably coupled with the device body.

12. The robotic device of claim 11, wherein each of the first and second operational arms has at least three degrees of freedom.

13. The robotic device of claim 11, wherein each of the first and second operational arms has at least four degrees of freedom.

14. The robotic device of claim 11, further comprising an external controller operably coupled to the at least one imaging component and the first and second operational arms, the external controller comprising:

(a) an image display component operably coupled to the at least one imaging component, the image display component configured to display images acquired by the at least one imaging component; and

(b) at least one joystick operably coupled to at least one of the first and second operational arms, the at least one joystick configured to control at least one of the first and second operational arms.

15. The robotic device of claim 11, wherein the first and second procedural tools are each chosen from a group consisting of a scalpel, a biopsy tool, a cauterizer, a forceps, a dissector, clippers, a stapler, and an ultrasound probe.

16. A method of surgery comprising:

making an incision in a patient, wherein the incision provides access to a target cavity in the patient;

inserting a robotic device through the incision and into the target cavity in the patient, the robotic device comprising;

(a) an elongate device body;

(b) a connection component operably coupled with the device body;

(c) a first operational arm comprising;

(i) a first inner arm segment operably coupled with the device body via a first shoulder joint at a first end of the elongate device body;

(ii) a first outer arm segment operably coupled with the first inner arm segment via a first elbow joint; and

(iii) a first operational component operably coupled with the first outer arm segment;

(e) a second operational arm comprising;

(i) a second inner arm segment operably coupled with the device body via a second shoulder joint at a second end of the elongate device body;

(ii) a second outer arm segment operably coupled with the second inner arm segment via a second elbow joint; and

(iii) a second operational component operably coupled with the second outer arm segment; and

(f) at least one actuator disposed within each arm, the at least one actuator being configured to actuate movement of the arm, wherein the at least one actuator is operably coupled to a physical linkage extending to an external component; and

performing a procedure in the target cavity of the patient using at least the robotic device.

17. The method of claim 16, wherein making the incision in the patient comprises making no more than two incisions in the patient.

18. The method of claim 16, wherein performing the procedure further comprises performing the procedure using the robotic device and at least one additional device.

19. The method of claim 16, wherein the external component is an external controller comprising an external power source operably coupled to the at least one actuator, wherein performing the procedure further comprises operating the external controller, wherein the external power source is configured to transmit force to the at least one actuator via the physical linkage for actuating movement of the arms.