Robotic arm DLUs for performing surgical tasks

• US 20040243109A1
• Filed: 05/21/2004
• Published: 12/02/2004
• Est. Priority Date: 06/18/1997
• Status: Abandoned Application

• Current Assignee: Tyco Healthcare Group LP (Medtronic Plc)
• Original Assignee: Tyco Healthcare Group LP (Medtronic Plc)
• Inventors: Hinchliffe, Peter W.J., Ratcliff, Keith, Toso, Kenneth E., Tovey, H. Jonathan
• Application Number:
  US10/851,819
• Publication Number:
  US 20040243109A1
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/0491 Sewing machines for surgery
• CPC Class Codes: A61B 17/062 Needle manipulators
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/072 for applying a row of staples in a single action , e.g. the staples being applied simultaneously
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/1285 for minimally invasive surgery
• CPC Class Codes: A61B 17/32053 Punch like cutting instruments, e.g. using a cylindrical or oval knife A61B17/326 takes precedence; trepans A61B17/1695; for use on the cornea A61F9/007
• CPC Class Codes: A61B 17/3211 Surgical scalpels, knives; Accessories therefor
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 2017/0023 disposable
• CPC Class Codes: A61B 2017/00247 Making holes in the wall of the heart, e.g. laser Myocardial revascularization
• CPC Class Codes: A61B 2017/00464 for use with different instruments
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00778 Operations on blood vessels A61B2017/22097, A61B2017/320741 take precedence
• CPC Class Codes: A61B 2017/06047 located at the middle of the needle
• CPC Class Codes: A61B 2017/0609 having sharp tips at both ends, e.g. shuttle needle alternately retained and released by first and second facing jaws of a suturing instrument
• CPC Class Codes: A61B 2018/00392 Transmyocardial revascularisation
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

Disposable loading units (DLUs) configured for mounting to a robotic arm for performing at least one surgical task are presented. Each DLU includes an attachment platform having at least one connector for engaging at least one connector on a distal end of the robotic arm for connecting the DLU to the robotic arm, a head portion connected to the attachment platform at one end and configured for housing an electro-mechanical actuation assembly therein, and at least one surgical tool member extending from the head portion and operatively associated with the electro-mechanical actuation assembly for controlling the operation and movement of the at least one surgical tool member. The at least one surgical tool member may include a cutting assembly, an aortic hole punch assembly, a lasing assembly, a coring assembly, or a vascular suturing assembly.

Claims

1. A robotic system for performing surgical tasks comprising:

a) a robotic arm defining a longitudinal axis;

b) an actuation assembly operatively associated with the robotic arm for controlling the operation and movement of the robotic arm; and

,

c) an electro-mechanical device mounted to the robotic arm, the electro-mechanical device including at least one surgical tool member and control means operatively associated with the actuation assembly and the at least one surgical tool member for controlling the operation and movement of the at least one surgical tool member.

2. A robotic system as recited in claim 1, wherein the control means includes a processor and a receiver for receiving electrical signals transmitted from the actuation assembly to control the operation and movement of the at least one surgical tool member.

3. A robotic system as recited in claim 1, wherein the electro-mechanical device is electro-mechanically coupled to the robotic arm for electrically operating the electro-mechanical device and for articulating the electro-mechanical device with respect to the longitudinal axis.

4. A robotic system as recited in claim 1, wherein the electro-mechanical device is releasably mounted to the robotic arm.

5. A robotic system as recited in claim 1, wherein the at least one surgical tool member is selected from a group consisting of a cutting assembly, an aortic hole punch assembly, a lasing assembly, a fastener applying assembly, a coring assembly, or a vascular suturing assembly.

6. A robotic system as recited in claim 1, wherein the electro-mechanical device includes at least one connector for connecting the electro-mechanical device to the robotic arm.

7. A robotic system as recited in claim 6, wherein the at least one connector is electrically associated with the robotic arm for providing electrical energy to the control means from the actuation assembly.

8. A robotic system for performing surgical tasks comprising:

a) means for communicating commands in the form of electrical signals from a processor within an actuation assembly to an electro-mechanical device having at least one surgical tool member and configured for mounting at a distal end of a robotic arm; and

b) control means within the electro-mechanical device and operatively associated with the communicating means for receiving the electrical signals for controlling the operation and movement of the at least one surgical tool member according to the electrical signals.

9. A robotic system as recited in claim 8, wherein the at least one surgical tool member is selected from a group consisting of a cutting assembly, an aortic hole punch assembly, a lasing assembly, a coring assembly, or a vascular suturing assembly.

10. A robotic system as recited in claim 8, wherein the electro-mechanical device is removably associated with the robotic arm.

11. A robotic system as recited in claim 8, wherein the at least one surgical tool member is configured for endoscopic surgical tasks.

12. A robotic system as recited in claim 8, wherein the at least one surgical tool member is configured for laparoscopic surgical tasks.

13. A disposable loading unit configured for mounting to a robotic arm for performing at least one surgical task, the disposable loading unit comprising:

a) an attachment platform having at least one connector for releasably engaging at least one connector on a distal end of the robotic arm for attaching the disposable loading unit to the robotic arm;

b) a head portion connected to the attachment platform and configured for housing an electro-mechanical assembly therein; and

c) at least one surgical tool member extending from the head portion and operatively associated with the electro-mechanical assembly for performing the at least one surgical task.

14. A disposable loading unit as recited in claim 13, wherein the at least one surgical tool member is selected from a group consisting of a cutting assembly, an aortic hole punch assembly, a lasing assembly, a coring assembly, or a vascular suturing assembly.

15. A disposable loading unit robotic system as recited in claim 13, wherein the attachment platform includes means for electrically connecting the DLU with the robotic arm.

16. A disposable loading unit as recited in claim 13, wherein the at least one surgical tool member is configured for endoscopic surgical tasks.

17. A disposable loading unit as recited in claim 13, wherein the at least one surgical tool member is configured for laparoscopic surgical tasks.

18. A disposable loading unit as recited in claim 13, wherein the head portion is electro-mechanically coupled to the robotic arm for electrically operating the electro-mechanical assembly and for articulating the head portion with respect to a longitudinal axis of the robotic arm.

19. A kit for use with a robotic system adapted to perform surgical procedures, the robotic system characterized by having a robotic arm, and an actuation assembly operatively associated with the robotic arm for controlling the operation and movement of the robotic arm, the kit comprising:

at least two disposable loading units, each disposable loading unit being adapted for releasable mounting to the robotic arm, each disposable loading unit including at least one surgical tool member for performing a surgical procedure and control means operatively connectable with the actuation assembly for controlling the operation and movement of the one surgical tool member.

20. A kit as recited in claim 19, wherein the one surgical tool member is selected from a group consisting of a cutting assembly, an aortic hole punch assembly, a lasing assembly, a coring assembly, or a vascular suturing assembly.