SYSTEMS, DEVICES, AND METHODS FOR SURGERY ON A HOLLOW ANATOMICALLY SUSPENDED ORGAN

• US 20100010504A1
• Filed: 09/19/2007
• Published: 01/14/2010
• Est. Priority Date: 09/19/2006
• Status: Abandoned Application

• Current Assignee: Trustees Of Columbia University In The City Of New York (Columbia University)
• Original Assignee: Trustees Of Columbia University In The City Of New York (Columbia University)
• Inventors: Fine, Howard, Simaan, Nabil, Wei, Wei, Chang, Stanley, Goldman, Roger
• Application Number:
  US12/441,566
• Publication Number:
  US 20100010504A1
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 2017/00867 shape memory effect
• CPC Class Codes: A61B 2017/3407 including a base for support on the body
• CPC Class Codes: A61B 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/306 using optical fibres
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• 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 34/75 Manipulators having means for prevention or compensation of hand tremors
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/16 Bite blocks
• CPC Class Codes: A61B 90/20 Surgical microscopes characterised by non-optical aspects
• CPC Class Codes: A61F 9/007 Methods or devices for eye surgery

Abstract

Systems, devices, and methods for surgery on a hollow anatomically suspended organ are described herein. In some embodiments a tele-robotic microsurgical system for eye surgery include: a tele-robotic master and a slave hybrid-robot; wherein the tele-robotic master has at least two master slave interfaces controlled by a medical professional; wherein the slave hybrid-robot has at least two robotic arms attached to a frame releasably attached to a patient'"'"'s head; wherein the at least two robotic arms each have a parallel robot and a serial robot; and wherein the serial robot includes a tube housing a cannula.

Claims

1. A tele-robotic microsurgical system for eye surgery, comprising:

a tele-robotic master and a slave hybrid-robot;

the tele-robotic master having at least two user controlled master slave interfaces;

the slave hybrid-robot having at least two robotic arms attached to a frame releasably attachable to a patient'"'"'s head; and

wherein the at least two robotic arms each have a serial robot connected to a parallel robot.

2. The system of claim 1, wherein the parallel robot has six degrees of freedom and the serial robot has two degrees of freedom.

3. The system of claim 2, wherein the serial robot comprises one rotational degree of freedom about its longitudinal axis and one degree of freedom bending an end-effector.

4. The system of claim 3, wherein the end-effector comprises a cannula and a tube.

5. The system of claim 4, wherein the cannula is a NiTi cannula that bends in one degree of freedom as it is moves outside of the tube.

6. The system of claim 4, wherein the cannula is a backlash-free superelastic NiTi cannula for providing manipulation inside an eye.

7. The system of claim 5, wherein the NiTi cannula has a structural design for at least one of drug delivery, aspiration, light delivery, and delivery of at least one of micro-grippers, picks, and micro knives.

8. The system of claim 1, wherein the serial robot manipulates and stabilizes the eye while each of the robotic arms moves substantially together.

9. The system of claim 1, wherein the slave hybrid-robot has a structural configuration having at least one of tool replacement, controllable visualization inside the eye, controllable light source, drug delivery, and aspiration.

10. The system of claim 1, wherein the tele-robotic microsurgical system comprises a structure for at least one of intraocular dexeterity, dual arm dexterious manipulations inside the eye, force feedback, controllable lighting, aspiration and drug delivery, and stabilization and manipulation of the eye.

11. The system of claim 1, wherein the frame is releasably attached with at least one of a locking bite-plate and a coronal strap.

12. The system of claim 1, wherein the serial robot is releasably attached to the parallel robot.

13. The system of claim 1, wherein the at least two robotic arms are arranged to at least one of stabilizing and manipulating the eye.

14. The system of claim 1, wherein the at least two robotic arms comprise adjustable structures for adjusting into position at the initial setup of the system.

15. A tele-robotic microsurgical system for eye surgery, comprising:

a frame, a first robotic arm, a second robotic arm, and a tele-robotic master;

the frame being able to be releasably attached to an object to be operated on;

the first robotic arm and second robotic arm each comprise a parallel robot and a serial robot;

the tele-robotic master comprises a master slave user controlled interface; and

the serial robot comprises a tube and a cannula.

16. The system of claim 15, wherein at least one of the tube and cannula apply force on the eye for at least one of stabilizing, positioning, and manipulating the eye.

17. The tube of claim 16, wherein the cannula comprises a pre-bent NiTi cannula, and the cannula extending from the tube.

18. The cannula of claim 17, wherein the cannula is designed for at least one of drug delivery, aspiration, light delivery, and for delivering at least one of microgrippers, picks, and micro knives.

19. The system of claim 17, wherein at least one of the tube and the pre-bent NiTi cannula rotates about their longitudinal axis.

20. A tele-robotic microsurgical system for surgery on a hollow anatomically suspended organ, comprising:

a tele-robotic master and a slave hybrid-robot;

the tele-robotic master comprises at least one user controlled master slave interface;

the slave hybrid-robot comprises at least one robotic arm attached to a frame releasably attachable to a patient; and

the at least one robotic arm comprises a parallel robot and a serial robot.

21. The device of claim 20, wherein the parallel robot comprises a robot having six degrees of freedom and the serial robot comprises a robot having two degrees of freedom.

22. The serial robot of claim 21, further comprises a tube and a NiTi cannula that bends in one degree of freedom as it moves outside of the tube.

23. The serial robot of claim 22, wherein at least one of the tube and cannula rotate about their longitudinal axis.

24. A slave-hybrid robot for surgery on a hollow anatomically suspended organ, comprising:

a frame releasably able to be attached to a patient and at least one robotic arm is releasably attached to the frame;

the at least one robotic arm comprises a parallel robot and a serial robot;

the serial robot comprises a tube for delivering a pre-bent NiTi cannula;

at least one of the tube and the pre-bent NiTi cannula are capable of rotating about their longitudinal axis; and

the pre-bent NiTi cannula bends when extended from the tube.