METHODS, SYSTEMS, AND DEVICES FOR SURGICAL VISUALIZATION AND DEVICE MANIPULATION

• US 20080221591A1
• Filed: 12/28/2007
• Published: 09/11/2008
• Est. Priority Date: 02/20/2007
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska, Nebraska Surgical Solutions Inc. (Virtual Incision Corporation)
• Inventors: Rentschler, Mark, Wood, Nathan A., Lehman, Amy, Farritor, Shane M., Prior, Reed, Bock, Adam
• Granted Patent: US 9,579,088 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/06 with illuminating arrangements
• CPC Class Codes: A61B 1/3132 for laparoscopy
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/2919 details of linkages or pivot points
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• CPC Class Codes: A61B 2090/373 using light, e.g. by using optical scanners
• 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 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

A surgical device includes a console having a visual display and a manipulator arm, a robotic device having a camera and a connection component. The robotic device is configured to be positioned completely within a body cavity. The camera is configured to transmit visual images to the visual display. The connection component operably couples the console and the robotic device. The manipulator arm is positioned relative to the visual display so as to appear to be penetrating the visual display.

Claims

1. A surgical system comprising:

a console comprising a visual display and at least one manipulator arm;

a robotic device comprising a camera configured to transmit visual images to the visual display, wherein the robotic device is configured to be positioned completely within a body cavity of a patient; and

a connection component operably coupling the console and the robotic device.

2. The system of claim 1, wherein the console further comprises a console magnet and the robotic device further comprises a device magnet capable of magnetic communication with the console magnet.

3. The system of claim 1, wherein the manipulator arm is operably coupled to the robotic device via the connection component.

4. The system of claim 1, wherein the connection component is a wireless connection component.

5. The system of claim 1, wherein the manipulator arm is positioned relative to the visual display so as to appear to be penetrating the visual display.

6. The system of claim 1, further comprising a stabilization component coupled to the console.

7. A surgical system comprising:

a first console comprising a first visual display;

a second console comprising a second visual display and two second console manipulator arms;

a robotic device comprising a camera configured to transmit visual images to the first and second visual displays, wherein the robotic device is configured to be positioned completely within a body cavity of a patient; and

a connection component operably coupling the first console, the second console and the robotic device.

8. The system of claim 7, wherein the first console further comprises two first console manipulator arms and a manipulator control switch, wherein the two first console manipulator arms are operably coupled to the robotic device, wherein the manipulator control switch is configured to disconnect communication between the two second console manipulator arms and the robotic device.

9. The system of claim 7, wherein the first visual display comprises a touch screen configured to record information based on contact with the touch screen, wherein the system further comprises a pen configured to be contactable with the touch screen to record information.

10. The system of claim 9, wherein the second visual display is configured to display the information recorded at the first visual display.

11. The system of claim 7, wherein the first console further comprises two first console manipulator arms, wherein the two first console manipulator arms are operably coupled to the two second console manipulator arms, whereby the two first console manipulator arms are configured to control the first and second manipulator arms.

12. A robotic system for medical procedures, the system comprising:

(a) a robotic device configured to be positioned completely within a patient, wherein the robotic device comprises;

(i) a body;

(ii) a camera associated with the body;

(ii) first and second robotic arms operably coupled with the body; and

(iv) a device magnet associated with the body; and

(b) a user console comprising;

(i) first and second manipulator arms operably coupled with the console, wherein the first and second manipulator arms are configured to be in communication with the first and second robotic arms;

(ii) a visual display disposed on the console, the visual display configured to receive images from the camera whereby the first and second manipulator arms appear visually to be physically connected to the first and second robotic arms; and

(iii) a console magnet associated with the console, wherein the console magnet is configured to be in magnetic communication with the device magnet.

13. The system of claim 12, wherein the user console is configured to be disposed substantially adjacent to the patient.

14. The system of claim 12, wherein the user console is configured to be disposed at a location remote from the patient.

15. The system of claim 12, wherein the first and second manipulator arms are operably coupled with the console via hinge joints.

16. The system of claim 12, wherein the first and second manipulator arms are operably coupled with the console via carriage assemblies.

17. The system of claim 12, further comprising a stabilization component coupled to the user console.

18. A surgical device comprising:

a console having a visual component and at least one manipulator;

a robotic device having a camera for providing visual images to the visual component, wherein the robotic device is positionable entirely within a body cavity; and

a connection component operably coupled to the console and configured to be coupleable to the robotic device when the robotic device is disposed within the body cavity;

wherein the manipulator is positioned relative to the visual component so as to appear to be penetrating the visual component.

19. The device of claim 18, wherein the console further comprises a console magnet and the robotic device further comprises a device magnet capable of magnetic communication with the console magnet.

20. The device of claim 18, wherein the manipulator is configured to remotely control the robotic device.

21. The device of claim 18, wherein the manipulator is selected from the group consisting of:

a manipulator arm operably connected to the console and the console.

22. The device of claim 18, wherein the manipulator is positioned relative to the visual component such that the manipulator appears visually to a user to be penetrating into the body cavity.

23. A method of performing a minimally invasive surgery comprising:

positioning a console at a location relative to a body cavity;

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

passing the robotic device through the passage and into the body cavity such that the robotic device is located substantially completely within the body cavity;

transmitting visual images captured by the robotic device to the console;

displaying the visual images on a visual display, wherein the visual display is positioned relative to the body cavity such that the body cavity appears visually to a user to be viewable directly through the visual display;

providing inputs based on movements of manipulation components operatively connected to the console and the robotic device based on the visual images on the visual display; and

correspondingly moving the robotic device based on the inputs and the movements of the manipulation components.

24. The method of claim 23, further comprising positioning the manipulation components relative to the visual display such that the manipulation components appear visually to a user to be penetrating the visual display.

25. The method of claim 23, further comprising positioning the manipulation components and the visual display relative to the body cavity such that the manipulation components appear visually to a user to be penetrating into the body cavity.

26. The method of claim 23, further comprising maintaining the robotic device within the body cavity adjacent the console external to the body cavity by magnetic communication of a console magnet of the console and a device magnet of the robotic device.