MAGNETICALLY COUPLEABLE ROBOTIC SURGICAL DEVICES AND RELATED METHODS

• US 20080058835A1
• Filed: 06/21/2007
• Published: 03/06/2008
• Est. Priority Date: 06/22/2006
• Status: Active Grant

• Current Assignee: Virtual Incision Corporation
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Platt, Stephen, Oleynikov, Dmitry, Dumpert, Jason, Rentschler, Mark, Farritor, Shane
• Granted Patent: US 8,834,488 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 1/313 for introducing through surgical openings, e.g. laparoscopes
• 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 18/00 Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2017/22082 after introduction of a substance
• CPC Class Codes: A61B 2018/00595 Cauterization
• CPC Class Codes: A61B 2018/00994 combining two or more different kinds of non-mechanical energy or combining one or more non-mechanical energies with ultrasound
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• 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 2560/0462 Apparatus with built-in sensors
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• 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
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• 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 5/062 : using magnetic field
• CPC Class Codes: A61B 5/073 : Intestinal transmitters
• CPC Class Codes: A61B 5/416 : the spleen
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61M 2205/3523 : using telemetric means
• CPC Class Codes: A61M 2205/3569 : sublocal, e.g. between console and disposable
• CPC Class Codes: A61M 31/00 : Devices for introducing or retaining media, e.g. remedies, in cavities of the body A61M25/00 takes precedence ; introducing or retaining ophthalmic products into the ocular cavities A61F9/0008
• CPC Class Codes: A61M 5/14276 : specially adapted for implantation
• CPC Class Codes: A61M 5/1452 : pressurised by means of pistons
• CPC Class Codes: A61M 5/16827 : controlling delivery of multiple fluids, e.g. sequencing, mixing or via separate flow-paths infusion of multiple fluids without using a controller A61M5/1407
• 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: B33Y 80/00 : Products made by additive manufacturing
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/15 : Jointed arm
• CPC Class Codes: Y10S 901/19 : Drive system for arm

Abstract

The present invention relates to magnetically coupleable robotic surgical devices. More specifically, the present invention relates to robotic surgical devices that can be inserted into a patient'"'"'s body and can be positioned within the patient'"'"'s body using an external magnet.

Claims

1. A robotic device, comprising:

(a) a cylindrical body configured to be disposed within a patient;

(b) a sensor fixedly disposed within the cylindrical body, wherein the cylindrical body comprises an transparent component configured to allow light to the sensor;

(c) a power source operably coupled with the body;

(d) a connection component operably coupled with the body; and

(e) a first attachment component operably coupled with the body.

2. The device of claim 1, wherein the first attachment component comprises a first magnetic component.

3. The device of claim 1, further comprising a light component operably coupled with the body.

4. The device of claim 1, wherein the transparent component comprises a lens.

5. The device of claim 1, wherein the sensor is disposed within an interior portion of the cylindrical body, wherein the body is fluidically sealed whereby no exterior fluids can enter the interior portion.

6. The device of claim 2, further comprising a detached handle comprising at least a second component configured to be operably coupleable with the first magnetic component.

7. The device of claim 1, wherein the connection component comprises a wire electrically coupled to the robot and extending out of the patient.

8. The device of claim 1, wherein the connection component comprises a wireless connection component.

9. The device of claim 1, wherein the sensor is an imaging component.

10. A robotic device, comprising:

(a) a body configured to be disposed within a patient, the body comprising an inner cylindrical component and an outer cylindrical component, wherein the inner cylindrical component is rotatable relative to the outer cylindrical component;

(b) a sensor disposed within an interior portion of the inner cylindrical component, wherein the body is fluidically sealed and further wherein the inner cylindrical component comprises a transparent component adjacent to the sensor;

(c) a power source operably coupled with the body;

(d) a connection component operably coupled with the body; and

(e) a first attachment component operably coupled with the body.

11. The device of claim 10, wherein the first attachment component comprises a first magnetic component.

12. The device of claim 10, further comprising a light component operably coupled with the device.

13. The device of claim 10, wherein the body is fluidically sealed whereby no exterior fluids can enter the interior portion.

14. The device of claim 10, wherein the sensor is fixedly disposed within the interior portion of the inner cylindrical component.

15. The device of claim 10, further comprising a motor disposed to actuate relative rotation between the inner cylindrical component and the outer cylindrical component.

16. The device of claim 11, further comprising a detached handle comprising at least a second magnetic component configured to be operably coupleable with the first magnetic component.

17. A method of surgery comprising:

inserting a robotic device through a natural orifice of a patient and into a passage connected to the natural orifice;

creating an incision in a wall of the passage;

inserting the robotic device into a cavity of the patient through the passage wall; and

performing a procedure in the cavity of the patient.

18. The method of claim 17, wherein the robotic device comprises a first magnetic component, the method further comprising placing a detached handle comprising a second magnetic component on an outer surface of the patient, whereby the robotic device is drawn to the detached handle.

19. The method of claim 17, further comprising positioning the robotic device using the detached handle.

20. The method of claim 17, wherein the robotic device comprises:

(a) a cylindrical body configured to be disposed within a patient;

(b) a sensor disposed within the cylindrical body, wherein the cylindrical body comprises an transparent component configured to allow light to the sensor;

(c) a power source operably coupled with the body;

(d) a connection component operably coupled with the body; and

(e) an attachment component operably coupled with the body.

21. The method of claim 17, wherein the performing the procedure comprises performing the procedure with the robotic device.

22. The method of claim 17, further comprising monitoring the procedure with the robotic device.

23. The method of claim 17, wherein the performing the procedure comprises performing the procedure with the robotic device and at least one additional device.

24. The method of claim 17, wherein the natural orifice is the mouth or anus and the wall is the stomach or intestinal wall.