AUTOMATED DELIVERY OF A THERAPEUTIC OR COSMETIC SUBSTANCE TO CUTANEOUS, SUBCUTANEOUS AND INTRAMUSCULAR TISSUE REGIONS

• US 20080167674A1
• Filed: 01/08/2007
• Published: 07/10/2008
• Est. Priority Date: 01/08/2007
• Status: Active Grant

• Current Assignee: Venus Concept, Inc.
• Original Assignee: Restoration Robotics, Inc. (Venus Concept, Inc.)
• Inventors: Bodduluri, Mohan, Moll, Frederic H., Canales, Miguel G., Gildenberg, Philip L., Kelly, Douglas E., Bird, Jeffrey, McCollum, James W.
• Granted Patent: US 7,922,688 B2
• Time in Patent Office: Days
• US Class Current: 606/187
• CPC Class Codes: A61B 17/3468 for implanting or removing devices, e.g. prostheses, implants, seeds, wires devices for implanting seeds A61M37/0069
• CPC Class Codes: A61B 2017/00747 Dermatology
• CPC Class Codes: A61B 2017/00752 Hair removal or transplantation
• CPC Class Codes: A61B 2017/00893 pharmaceutically effective
• CPC Class Codes: A61B 2017/00969 used for transplantation
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• 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 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61M 37/0069 Devices for implanting pellets, e.g. markers or solid medicaments for introducing of radioactive sources for interstitial radiation therapy, i.e. brachytherapy A61N5/1027
• CPC Class Codes: A61M 5/20 Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically A61M5/142 , A61M5/46 take precedence; hypodermic projectiles F42B12/54
• CPC Class Codes: A61M 5/204 connected to external reservoirs for multiple refilling
• CPC Class Codes: A61M 5/31525 Dosing burettes, pipettes B01L3/02
• CPC Class Codes: A61M 5/31546 Electrically operated dose setting, e.g. input via touch screen or plus/minus buttons
• CPC Class Codes: A61M 5/3287 Accessories for bringing the needle into the body; Automatic needle insertion A61M5/20, A61M5/31525 take precedence

Abstract

Automated systems and methods for delivery of a therapeutic or cosmetic substance into cutaneous, subcutaneous or intramuscular tissue, wherein an automated (e.g., robotic) arm is maneuvered to position a delivery device proximate a targeted location (e.g., an existing hair follicle, a location for implanting a skin filler, or a location for intradermal tattoo ink injection) on a patient'"'"'s skin surface; and a substantially automated process is used to cause the delivery device to puncture the skin surface and penetrate to a desired depth into the tissue at the targeted location, and deliver the substance therein.

Claims

1. A method for transcutaneous delivery of a flowable therapeutic or cosmetic substance to a cutaneous, subcutaneous or intramuscular tissue region, comprising:

maneuvering an automated arm to position a delivery device mounted on the automated arm proximate a targeted location on a patient'"'"'s skin surface; and

using a substantially automated process to (i) cause a tissue-piercing distal end of the delivery device to puncture the skin surface and penetrate a desired depth in the tissue at the targeted location, and (ii) deliver a controlled dose of the therapeutic or cosmetic substance into the tissue at the targeted location through the delivery device.

2. The method of claim 1, wherein the therapeutic or cosmetic substance comprises one or both of cells used to grow hair and a pharmaceutical that effects hair growth.

5. The method of claim 1, wherein the therapeutic or cosmetic substance is selected from the group comprising androgens, anabolic steroids, estrogen, phenytoin, retinoids, cyclosporine, Growth Hormone (GH), and autologous platelet plasma.

6. The method of claim 1, wherein the therapeutic or cosmetic substance comprises fat cells.

7. The method of claim 1, wherein the therapeutic or cosmetic substance comprises hyaluronic acid.

8. The method of claim 1, wherein the therapeutic or cosmetic substance comprises collagen.

9. The method of claim 1, wherein the therapeutic or cosmetic substance comprises clostridium botulinum (Botox®

).

10. The method of claim 1, wherein the therapeutic or cosmetic substance is a natural or synthetic polymer.

12. The method of claim 1, wherein the therapeutic or cosmetic substance is supplied from a reservoir carried on the automated arm.

13. The method of claim 12, wherein the reservoir is removably coupled to the automated arm.

14. The method of claim 1, wherein the delivery device comprises a syringe removably coupled to the automated arm.

15. The method of claim 1, further comprising

(a) maneuvering the automated arm to reposition the delivery device proximate a further targeted location on the patient'"'"'s skin surface;

(b) using a substantially automated process to (i) cause the distal end of the delivery device to puncture the skin and penetrate into the tissue at the further targeted location, and (ii) deliver a controlled dose of the therapeutic or cosmetic substance into the tissue at the further targeted location through the delivery device; and

(c) repeating (a) and (b) one or more times.

16. The method of claim 1, wherein the automated arm is automatically positioned at the targeted location based at least in part on images acquired of the targeted skin surface location.

17. The method of claim 16, wherein the images include intradermal or subcutaneous images.

19. The method of claim 1, wherein the automated arm is a robotic arm.

3. (canceled)

4. The method of claim 3, wherein the pharmaceutical comprises one or both of minoxidil and finasteride.

11. (canceled)

18. (canceled)

20-21. -21. (canceled)

22. An automated system for transcutaneous delivery of a therapeutic or cosmetic substance into a cutaneous, subcutaneous or intramuscular tissue region, comprising:

an automated arm;

a delivery device mounted on the automated arm;

one or more cameras [mounted on the automated arm];

a processor configured to receive and process images acquired by the one or more cameras; and

a controller operatively associated with the processor and configured to maneuver the automated arm based, at least in part, on images acquired by the one or more cameras and processed by the processor,

wherein the automated arm is maneuverable such that the delivery device may be positioned proximate a targeted location on a patient'"'"'s skin surface, and one or both of the processor and controller configured to cause (i) a distal end of the delivery device to puncture the skin surface and penetrate into tissue at the targeted location, and (ii) a controlled delivery through the delivery device of a therapeutic or cosmetic substance into the tissue.

23. The system of claim 22, wherein the automated system is a robotic system, and the automated arm is a robotic arm.

24. The system of claim 23, further comprising a reservoir carried on the robotic arm, wherein the therapeutic or cosmetic substance is a flowable substance supplied from the reservoir.

25. The system of claim 24, wherein the reservoir is removably coupled to the robotic arm.

26. The system of claim 23, further comprising a plurality of reservoirs carried on the robotic arm, each reservoir containing a respective therapeutic or cosmetic substance, wherein the delivery device may be selectively coupled to a respective one of the plurality of reservoirs.

27. The system of claim 22, wherein the delivery device comprises a syringe removably coupled to the automated arm.

28. The system of claim 22, wherein the images include intradermal or subcutaneous images.

29. The system of claim 22, further comprising a user interface that allows a system operator to input instructions relating to one or more of a location, an orientation and a penetration depth of the delivery device.

30. The system of claim 22, further comprising a user interface that allows a system operator to input instructions relating to a type, a quantity, or both, of the therapeutic or cosmetic substance to be delivered into a targeted tissue region.

31. The system of claim 22, the therapeutic or cosmetic substance comprising cellular matter pellets stored in a container carried on the automated arm, the system comprising means for dispensing from the container and delivering a controlled number of pellets to the target tissue region.

32. The system of claim 31, wherein the dispensing and delivering means comprises one or both of a source of pressurization and a reciprocating obturator.

33. The system of claim 22, wherein the [dispensing and delivering means comprises a reciprocating obturator] the delivery device is configured to deliver therapeutic and cosmetic substances selected from the group comprising hair growth cells, minoxidil, finasteride, androgens, anabiolic steroids, estrogen, phenytoin, retinoids, cyclosporine, Growth Hormone (GH), autologous platelet plasma, fat cells, hyaluronic acid, collagen, clostridium botulinum (Botox), natural polymer, synthetic polymer, anesthetics, saline solution, and calcium particles.

34. A method for delivery of a therapeutic or cosmetic substance to cutaneous or subcutaneous tissue of, or proximate to, an existing hair follicle in a body surface of a patient, comprising:

maneuvering an automated arm to position a delivery device mounted on the automated arm proximate a targeted hair follicle in the body surface; and

using a substantially automated process to (i) cause a tissue-piercing distal end of the delivery device to puncture the skin surface and penetrate a desired depth into cutaneous or subcutaneous tissue at least partially surrounding, or otherwise proximate to, the hair follicle, and (ii) deliver a therapeutic or cosmetic substance into the tissue.

38. The method of claim 34, wherein the therapeutic or cosmetic substance is selected from the group comprising cells used to grow hair, a pharmaceutical that affects hair growth, minoxidil, finasteride, growth factor for hair cells, androgens, anabolic steroids, estrogen, phenytoin, retinoids, cyclosporine, Growth Hormone (GH), and autologous platelet plasma.

48. The method of claim 34, wherein a distal end of the delivery device at least partially surrounds the targeted hair follicle as the delivery device penetrates the skin surface.

49. The method of claim 34, wherein the therapeutic or cosmetic substance is delivered at multiple discrete locations in the cutaneous or subcutaneous tissue proximate the targeted hair follicle.

35-37. -37. (canceled)

39-47. -47. (canceled)

50-53. -53. (canceled)

54. An automated system for transcutaneous delivery of a therapeutic or cosmetic cellular or pharmacological matter into a cutaneous, subcutaneous or intramuscular tissue region, comprising:

an automated arm;

a cellular or pharmacological matter delivery device carried by the automated arm;

one or more cameras;

a processor configured to receive and process images acquired by the one or more cameras; and

a controller operatively associated with the processor and configured to maneuver the automated arm based, at least in part, upon images acquired by the one or more cameras and processed by the processor,

wherein the automated arm is maneuverable such that the cellular or pharmacological matter delivery device may be positioned proximate a targeted location on a patient'"'"'s body surface, and one or both of the processor and controller are configured to cause a controlled delivery through the cellular or pharmacological matter delivery device of a therapeutic or cosmetic cellular or pharmacological matter into the tissue at the targeted location.

55. The system of claim 54, further comprising a reservoir carried on the robotic arm, wherein the cellular or pharmacological matter is in the form of a flowable substance supplied from the reservoir.

56. The system of claim 54, wherein the cellular or pharmacological matter is in the form of a flowable substance, further comprising a plurality of reservoirs carried on the robotic arm, each reservoir containing a respective therapeutic or cosmetic cellular or pharmacological matter, wherein the delivery device may be selectively coupled to a respective one of the plurality of reservoirs.

57. The system of any of claims 54, wherein the delivery device comprises a syringe removably coupled to the automated arm.

58. The system of any of claims 54, further comprising a user interface that allows a system operator to input instructions relating to one or more of a location, an orientation and a penetration depth of the cellular or pharmacological matter delivery device.

59. The system of any of claims 54, further comprising a user interface that allows a system operator to input instructions relating to a type, a quantity, or both, of the cellular or pharmacological matter to be delivered into a targeted tissue region.

60. The system of any of claims 54, wherein the automated system is a robotic system, and the automated arm is a robotic arm.

61. An automated system for transcutaneous delivery of a therapeutic or cosmetic substance into a cutaneous, subcutaneous or intramuscular tissue region, comprising:

an automated arm;

a delivery device carried by the automated arm;

a controller configured to maneuver the automated arm and to cause a controlled delivery through the delivery device of a therapeutic or cosmetic substance into the tissue at the targeted location; and

a user interface operably coupled to the controller, wherein the user interface allows a system operator to input instructions relating to one or more of

a location of the delivery device,

an orientation of the delivery device,

a penetration depth of the delivery device,

a type of the therapeutic or cosmetic substance to be delivered into a targeted tissue region, and

a quantity of the therapeutic or cosmetic substance to be delivered into a targeted tissue region.

62. The system of claim 61, wherein the automated system is a robotic system, and the automated arm is a robotic arm.