MAGNETIC-ANCHORED ROBOTIC SYSTEM
First Claim
Patent Images
1. A surgical system, comprising:
- an external anchor that is adapted to be positioned outside a body;
an internal anchor that is adapted to be inserted into the body via a single entrance port, positioned inside the body and magnetically coupled with the external anchor; and
an instrument that is adapted to be inserted into the body via the single entrance port and secured to the internal anchor, the instrument including an end-effector and a foldable enclosure, the end-effector having multiple degrees of movement via multiple axes, the foldable enclosure having at least a first and second configuration, the first configuration providing the enclosure in a folded state adapted for insertion into the body, and the second configuration providing the enclosure in an unfolded state.
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Abstract
A surgical system includes an external anchor, an internal anchor and an instrument. The external anchor is adapted to be positioned outside a body. The internal anchor is adapted to be inserted into the body via a single entrance port, positioned inside the body and magnetically coupled with the external anchor. The instrument is adapted to be inserted into the body via the single entrance port and secured to the internal anchor. The instrument includes an end-effector that has multiple degrees of movement via multiple axes.
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Citations
24 Claims
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1. A surgical system, comprising:
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an external anchor that is adapted to be positioned outside a body; an internal anchor that is adapted to be inserted into the body via a single entrance port, positioned inside the body and magnetically coupled with the external anchor; and an instrument that is adapted to be inserted into the body via the single entrance port and secured to the internal anchor, the instrument including an end-effector and a foldable enclosure, the end-effector having multiple degrees of movement via multiple axes, the foldable enclosure having at least a first and second configuration, the first configuration providing the enclosure in a folded state adapted for insertion into the body, and the second configuration providing the enclosure in an unfolded state. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A surgical system, comprising:
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an external anchor that is adapted to be positioned outside a body; an internal anchor that is adapted to be inserted into the body via a single entrance port, positioned inside the body and magnetically coupled with the external anchor; and an instrument that is adapted to be inserted into the body via the single entrance port and secured to the internal anchor, the instrument including an end-effector having multiple degrees of movement via multiple axes; and a wire, wherein the external anchor includes an aperture through which the wire can pass. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A surgical system, comprising:
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an external anchor that is adapted to be positioned outside a body; an internal anchor that is adapted to be inserted into the body via a single entrance port, positioned inside the body and magnetically coupled with the external anchor; and an instrument that is adapted to be inserted into the body via the single entrance port and secured to the internal anchors, the instrument including an end-effector having multiple degrees of movement via multiple axes; and a flexible magnetic sheet adapted for insertion into the body via the single entrance port. - View Dependent Claims (16, 17, 18, 19)
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20. A surgical method, comprising:
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inserting at least two internal anchors and instruments into a body through a single entrance port, the instruments being securable to the internal anchors and each including an end-effector having multiple degrees of movement via multiple axes; reconfiguring the internal anchors from insertion configurations to operation configurations, the operation configurations respectively having a larger contact area with a wall of the body than the insertion configurations; and positioning at least one external anchor outside the body such that the internal anchors and the external anchor are magnetically coupled across the wall of the body. - View Dependent Claims (21, 22, 23, 24)
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Specification