Robot for minimally invasive interventions

• US 20070123748A1
• Filed: 07/14/2006
• Published: 05/31/2007
• Est. Priority Date: 07/14/2005
• Status: Abandoned Application

• Current Assignee: Enhanced Medical System LLC
• Original Assignee: Enhanced Medical System LLC
• Inventors: Meglan, Dwight
• Application Number:
  US11/487,153
• Publication Number:
  US 20070123748A1
• Time in Patent Office: Days
• US Class Current: 600/104
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 18/22 the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
• CPC Class Codes: A61B 2017/00247 Making holes in the wall of the heart, e.g. laser Myocardial revascularization
• CPC Class Codes: A61B 2017/00703 correcting for movement of heart, e.g. ECG-triggered
• CPC Class Codes: A61B 2018/00351 Heart
• CPC Class Codes: A61B 2018/00392 Transmyocardial revascularisation
• CPC Class Codes: A61B 2018/00982 combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• 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 34/72 Micromanipulators

Abstract

The present invention relates to a miniature robotic device to be introduced, in the case of the heart, into the pericardium through a port, attach itself to the epicardial surface, and then, under the direct control of the user or physician, travel to the desired location for diagnosis or treatment.

Claims

1. A robot for insertion into a body cavity, comprising:

a robotic device having a central body and a plurality of movable members to move the device within the body cavity; and

a control system for controlling the robotic device.

2. The robot of claim 1 further comprising an interface that the control system with the device.

3. The robot of claim 1 further comprising a prehension device that includes at least one of a suction pad, synthetic gecko foot hair, or a tacky foot.

4. The robot of claim 2 wherein said interface includes a one of a plurality of wires, cables or flexible drive shafts.

5. The robot of claim 4 wherein said control system includes a handle and said wires, cables or flexible drive shafts are carried, for at least part of their length, in a sheath.

6. The robot of claim 1 wherein said robot is sized to fit within a 20 mm diameter channel in a delivery configuration.

7. The robot of claim 1 further comprising a tool including one of an ultrasound transducer, a diagnostic sensor, drug delivery system, therapeutic device, or surgical tool.

8. The robot of claim 1 further comprising at least one of a camera or fiberscope.

9. The robot of claim 8 further comprising a position sensing device to provide navigation information.

10. The robot of claim 8 further comprising a second camera or fiberscope.

11. The robot of claim 1 further comprising a plurality of suction elements.

12. The robot of claim 1 further comprising a lead wire that connects to heart tissue.

13. The robot of claim 1 wherein the plurality of movable members comprises a plurality of independently controlled legs.

14. The robot of claim 12 wherein each leg has a pad that contacts a tissue surface.

15. The robot of claim 13 wherein each leg comprises an inflatable bladder.

16. The robot of claim 13 wherein each leg has a plurality of inflatable bladders, each bladder being in fluid communication with a fluid pressure control system.

17. The robot of claim 14 wherein each pad has a suction element.

18. The robot of claim 17 wherein each pad has a plurality of at least three controllable suction elements.

19. The robot of claim 1 further comprising a channel for delivery of a therapeutic agent.

20. The robot of claim 1 further comprising a tool interface for mounting a tool on the robot.

21. The robot of claim 1 further comprising a lead placement tool mounted on the robot.

22. The robot of claim 1 further comprising a rotating tool element mounted on the robot.

23. The robot of claim 1 further comprising a cutting tool.

24. The robot of claim 1 further comprising a tissue ablation tool.

25. The robot of claim 14 wherein the tissue ablation tool comprises a laser.

26. The robot of claim 1 further comprising a laser light source.

27. The robot of claim 26 wherein the laser light source is coupled to the robot with a fiber optic cable.

28. The robot of claim 1 further comprising a broadband light source.

29. The robot of claim 28 wherein the broadband light source is coupled to the robot with a fiber optic cable.

30. The robot of claim 1 further comprising a needle or needle array.

31. The robot of claim 1 wherein the robot is less than 10 mm in diameter.

32. The robot of claim 1 further comprising a cable sheath connecting the robot to a controller.

33. The robot of claim 1 further comprising a body having a first section with a first plurality of attachment members and second section with a second plurality of attachment members.

34. The robot of claim 33 wherein the attachment members are suction elements.

35. The robot of claim 34 wherein the suction elements are connected by valves to a vacuum source.

36. The robot of claim 33 wherein the sections are cylindrical.

37. The robot of claim 33 wherein the attachment members are on opposite sides of the robot.

38. The robot of claim 1 wherein the robot comprises a walker having a plurality of legs.

39. The robot of claim 1 wherein the robot has a size for insertion in bronchi of the lung.

40. The robot of claim 1 wherein robot has a size for insertion into a spinal column.

41. The robot of claim 1 wherein the robot has size for insertion into a grain ventricle.

42. The robot of claim 1 wherein the robot has a working channel for manual insertion of a tool.

43. The robot of claim 33 wherein the first and second sections are connected by a pressurized bellows.

44. The robot of claim 1 wherein the device has a distal opening for viewing of a field of view.

45. The robot of claim 1 further comprising a cable that rotates a tool.

46. The robot of claim 1 further comprising a wireless connection between the robot and a controller.

47. The robot of claim 1 further comprising an electronic sensor for measuring a tissue characteristic.

48. The robot of claim 1 further comprising a battery in the robot.

49. The robot of claim 1 further comprising an electronic control system in the robot.

50. A robot for use in a living body, the robot comprising a central body and a plurality of movable members, each movable member having a prehension device that can attach the robot to an organ.

51. The robot of claim 50 wherein said robot members include a suction element.

52. The robot of claim 50 wherein said robot includes two body sections, each body section carrying one of suction pads, synthetic gecko foot hair, or a tacky foot.

53. A method of positioning a robot on an organ within a living body, comprising:

placing the robot on an organ, the robot having a central body and a plurality of movable members;

affixing the robot to the organ so the robot is in the same frame of reference as the organ; and

moving the robot along the organ while remaining in the same frame of reference as the organ.

54. The method of claim 53 further comprising providing a pressurized gas source that is connected to the robot with a cable.

55. The method of claim 53 further comprising providing a conformable suction pad having a plurality of suction elements.

56. The method of claim 53 further comprising providing a member having an inflatable channel.

57. The method of claim 53 further comprising providing a fixture on the device for mounting a tool or sensor.

58. The method of claim 53 further comprising inserting the robot onto a surface of the heart within the pericardial sack and attaching a lead to the heart with a screw or barbed lead.

59. The method of claim 53 further comprising distending a bodily cavity and viewing a medical procedure in the cavity with a camera coupled the robot.

60. The method of claim 53 further comprising adjusting a field of view of a camera coupled to the robot with a zoom lens.