Robot for surgical applications

• US 20060119304A1
• Filed: 01/24/2006
• Published: 06/08/2006
• Est. Priority Date: 07/08/2003
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Nebraska, Virtual Incision Corporation
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Oleynikov, Dmitry, Dumpert, Jason, Rentschler, Mark, Platt, Stephen R., Farritor, Shane
• Granted Patent: US 7,126,303 B2
• Time in Patent Office: Days
• US Class Current: 318/568.120
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• CPC Class Codes: A61B 10/06 Biopsy forceps , e.g. with cup-shaped jaws
• 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 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 Micromanipulators
• CPC Class Codes: A61B 5/05 Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves impedance plethysmography A61B5/0295; measuring movement of the entire body or parts thereof A61B5/11; detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof A61B5/24
• CPC Class Codes: A61B 5/416 the spleen
• CPC Class Codes: B08B 9/045 the cleaning devices being rotated while moved , e.g. flexible rotating shaft or "snake"B08B9/047 takes precedence
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 7/00 Micromanipulators specimen supports for investigating or analysing materials G01N23/2204; associated with microscopes G02B21/32; means for supporting or positioning the objects or the material in discharge tubes H01J37/20
• CPC Class Codes: B25J 9/065 Snake robots
• CPC Class Codes: B33Y 80/00 Products made by additive manufacturing

Abstract

The present invention provides a micro-robot for use inside the body during minimally-invasive surgery. The micro-robot includes an imaging devices, a manipulator, and in some embodiments a sensor.

Claims

1. A system with a mobile robot for use inside an animal body during minimally invasive surgery, comprising:

a laparoscopic surgical tool, wherein the robot is adapted to fit through a port of the laparoscopic surgical tool;

a body for incorporating components of the robot;

a mobilization element coupled to the body for moving the body of the robot within the animal body, the mobilization element comprising two wheels disposed along a longitudinal dimension of the body and having an axis of rotation substantially parallel to the longitudinal dimension;

a member disposed between the two wheels and extending from the body in a direction substantially perpendicular to the axis of rotation of the two wheels for converting rotational motion of the wheels into translational motion of the body;

a controller for controlling remotely the mobilization element;

an actuator coupled to the controller and mobilization element, the actuator configured to provide movement to the mobilization element based on input from the controller;

a power supply adapted to power the actuator; and

a means for obtaining a biopsy sample.

2. The system of claim 1, further comprising at least one imaging device proximate the body of the robot for imaging within the animal body.

3. The system of claim 1, wherein the body is shaped like a cylinder.

4. The system of claim 1, wherein the wheels have treads.

5. The system of claim 1, further comprising a transmitter and receiver for sending data and inputting command signals between the robot and a remote location.

6. The system of claim 1, further comprising at least one sensor that is selected from at least one member of the group consisting of a pH sensor, a temperature sensor, a sensor to detect gasses, a sensor to detect electrical potential, a sensor to detect heart rate, a sensor to detect respiration rate, a sensor to detect humidity, and a sensor to detect blood.

7. The system of claim 1, wherein the mobile robot is wireless.

8. The system of claim 2, wherein the imaging device is movable relative to the body of the robot to adjust a position of the imaging device.

9. The system of claims 8, wherein the position is pan, tilt or combinations thereof.

10. A mobile robot for use inside an animal body during minimally invasive surgery, comprising:

a body for incorporating components of the robot;

a means for obtaining a biopsy sample;

a mobilization assembly coupled to the body for actively moving the body of the robot along a surface within an open space inside the animal body, wherein the mobilization assembly comprises two wheels disposed at each end of the body and having an axis of rotation substantially parallel to the length of the robot; and

a member disposed between the two wheels and extending from the body in a direction substantially perpendicular to the axis of rotation of the two wheels for converting rotational motion of the wheels into translational motion.

11. The mobile robot of claim 10, further comprising at least one imaging device proximate the body of the robot for imaging within the animal body.

12. The mobile robot of claim 10, wherein the mobilization assembly is adapted for use within a cavity external to organs of the animal body, the cavity selected from at least one of an abdominal cavity, a pelvic cavity and a thoracic cavity.

13. The mobile robot of claim 10, wherein the open space is inside an abdominal cavity.

14. The mobile robot of claim 10, wherein the open space is outside of a gastrointestinal tract.

15. The mobile robot of claim 10, wherein the two wheels have treads.

16. The mobile robot of claim 10, wherein a majority of an external surface area of the robot is provided by the wheels.

17. The mobile robot of claim 10, wherein the mobilization assembly enables turning movement of the body and forward and backward movement of the body transverse to the length of the robot.

18. The mobile robot of claim 10, wherein the mobilization assembly is remotely controlled.

19. A method of performing minimally invasive surgery inside an animal body, comprising:

performing an incision in the animal body;

implanting a robot through the incision into an open space inside the animal body, the robot having a remotely controllable mobilization assembly and a means for obtaining a biopsy sample; and

actively moving the robot along a surface inside the animal body within the open space by driving two wheels of the mobilization assembly, wherein the two wheels have an axis of rotation substantially parallel to a length of the robot and are separated form one another along the length of the robot by a member extending in a direction substantially perpendicular to the axis of rotation of the two wheels for converting rotational motion of the wheels into translational motion capable of moving the robot transverse to the length of the robot.

20. The method of claim 19, further comprising viewing images within the animal body with an imaging device.

21. The method of claim 19, further comprising viewing images within the animal body with an imaging device and performing a surgical task by operation of the manipulator arm.

22. The method of claim 19, wherein implanting the robot includes disposing the robot within a cavity external to organs of the animal body, the cavity selected form at least one of an abdominal cavity, a pelvic cavity and a thoracic cavity.

23. The method of claim 19, wherein implanting the robot includes disposing the robot outside of a gastrointestinal tract.