SYSTEMS, DEVICES, AND METHODS FOR PROVIDING INSERTABLE ROBOTIC SENSORY AND MANIPULATION PLATFORMS FOR SINGLE PORT SURGERY
First Claim
Patent Images
1. A foldable insertable robotic surgical device comprising:
- an elongated cylindrical lumen having a distal end and a proximal end;
a plurality of flexible stems housed within the lumen prior to deployment and connected to the proximal end of the lumen;
a plurality of deployable continuum robots housed within the lumen prior to deployment, connected to the plurality of flexible stems, and each having a proximal end and a distal end;
a single degree of freedom axial wrist positioned at the distal end of each of the continuum robots;
a gripper positioned at the end of each axial wrist;
a radial extension structure spanning the proximal and distal ends of each flexible stem, wherein the radial extension structure is housed within the lumen prior to deployment and provides radial separation between the plurality of continuum robots when in a deployed state; and
a stereo vision module comprising a pair of charge coupled device (CCD) cameras housed within the lumen prior to deployment.
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Abstract
The present disclosure relates to systems, devices, and methods for providing foldable, insertable robotic sensory and manipulation platforms for single port surgery. The device is referred to herein as an Insertable Robotic Effector Platform (IREP). The IREP provides a self-deployable insertable device that provides stereo visual feedback upon insertion, implements a backbone structure having a primary backbone and four secondary backbones for each of the robotic arms, and implements a radial expansion mechanism that can separate the robotic arms. All of these elements together provide an anthropomorphic endoscopic device.
163 Citations
33 Claims
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1. A foldable insertable robotic surgical device comprising:
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an elongated cylindrical lumen having a distal end and a proximal end; a plurality of flexible stems housed within the lumen prior to deployment and connected to the proximal end of the lumen; a plurality of deployable continuum robots housed within the lumen prior to deployment, connected to the plurality of flexible stems, and each having a proximal end and a distal end; a single degree of freedom axial wrist positioned at the distal end of each of the continuum robots; a gripper positioned at the end of each axial wrist; a radial extension structure spanning the proximal and distal ends of each flexible stem, wherein the radial extension structure is housed within the lumen prior to deployment and provides radial separation between the plurality of continuum robots when in a deployed state; and a stereo vision module comprising a pair of charge coupled device (CCD) cameras housed within the lumen prior to deployment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. A method of deploying a surgical tool in vivo comprising:
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inserting a enclosed lumen through a single port, wherein the lumen comprises a distal portion and a proximal portion; obtaining a visual image of the environment surrounding the distal portion of the lumen during and after insertion; opening the distal portion of the lumen to expose a vision module and two continuum robots; extending the vision module along the longitudinal axis of the lumen and vertically from the distal portion of the lumen; extending the two continuum robots along the longitudinal axis of the lumen; and separating the two continuum robots along a radial axis of the lumen using a radial extension structure.
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29. A continuum robot comprising:
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a plurality of disks spaced along the length of the continuum robot, comprising a base disk and an end disk; a primary backbone having a first end and a second end, the first end affixed to the center of the base disk, the second end affixed to the center of the end disk; four secondary backbones, spaced equidistant from each other, around the primary backbone, each of the secondary backbones having a first end and a second end, wherein the first end of the secondary backbones are affixed to the end disk and the second end of the secondary backbones are slidably attached to the base disk. - View Dependent Claims (30, 31, 32, 33)
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Specification