Robotic Surgical Devices, Systems, and Related Methods

• US 20140046340A1
• Filed: 03/15/2013
• Published: 02/13/2014
• Est. Priority Date: 08/08/2012
• Status: Active Grant

• Current Assignee: Virtual Incision Corporation
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Herman, Jason, Farritor, Shane, Wilson, John, Shasho, Jeff, Kumar, Nishant, Mahin, Matt, Santoro, Chris, Mumm, Erik
• Granted Patent: US 10,582,973 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 90/30 Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61M 1/77 Suction-irrigation systems aspiration tips supplying fluids A61M1/85; specific for negative pressure wound therapy A61M1/92; combined with tracheal tubes A61M16/0463
• CPC Class Codes: G05B 2219/37297 Two measurements, on driving motor and on slide or on both sides of motor

Abstract

The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.

Claims

1-25. -25. (canceled)

26. A surgical robotic system, comprising:

a. a port traversing the body of a patient, wherein said port is capable of creating an insufflation seal;

b. a robotic device sized to be positioned and finally assembled within a patient by way of the port, further comprising;

i. a plurality of support rods, wherein the support rods extend to the exterior of the patient when the robotic device is fully assembled;

ii. a generally cylindrical coupleable connection unit, operationally coupled to the support rods and extending inside the patient, wherein the generally cylindrical coupleable connection unit runs substantially parallel to the support rods when assembled, said coupleable connection unit further comprising;

A. a first coupleable body, further comprising a first shoulder component;

B. a second coupleable body, further comprising a second shoulder component, wherein the first and second coupleable bodies are capable of being inserted into the patient individually and sequentially through the port and then coupled within the patient, such that the generally cylindrical coupleable connection unit is formed within the patient and the support rods traverse the port from the exterior to interior of the patient; and

C. at least one lumen in operable communication with at least one of the first and second operational components;

iii. a first movable segmented robotic arm operationally and rotatably connected to the first shoulder component, said first movable segmented arm further comprising a plurality of rotatably and operationally coupled first arm segments, such that the first movable segmented arm further comprises at least a proximal first arm segment and distal first arm segment;

iv. a second movable segmented robotic arm operationally connected to the second shoulder component, said second movable segmented arm further comprising a plurality of rotatably and operationally coupled second arm segments, such that the second movable segmented arm further comprises at least a proximal second arm segment and distal second arm segment;

v. a first operational component operationally and rotatably connected to the distal first robotic arm segment;

vi. a second operational component operationally and rotatably connected to the distal second robotic arm segment; and

c. an operations system for control of the robotic device from outside the patient by way of the connector, the operations system in electrical communication with the robotic device.

27. The surgical robotic system of claim 26, wherein the first operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, a suction component, an operational arm component, a sensor component, and a lighting component.

28. The surgical robotic system of claim 26, wherein the second operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, a suction component, an operational arm component, a sensor component, and a lighting component.

29. The surgical robotic system of claim 26, further comprising one or more motors for operation, rotation or movement of at least one of the first shoulder, the second shoulder, the first segmented arm, the second segmented arm, the first operational component, and the second operational component.

30. The surgical robotic system of claim 26, wherein the robotic device further comprises at least one absolute position sensor.

31. The surgical robotic system of claim 30, wherein the at least one absolute position sensor is selected from the group consisting of a magnetic absolute position encoder and a linear encoder.

32. The surgical robotic system of claim 31, wherein the linear encoder further comprises a pixel array and an LED array.

33. The surgical robotic system of claim 26, wherein the robotic device further comprises at least one relative position sensor.

34. The surgical robotic system of claim 26, wherein the robotic device further comprises a linear slip ring assembly, wherein the slip ring assembly is capable of determining the position of at least one operational component.

35. A surgical robotic system, comprising:

a. a robotic device sized to be positioned and assembled within a patient further comprising;

i. a port traversing the body of a patient, wherein said port is capable of creating an insufflation seal;

ii. a plurality of support rods;

iii. a generally cylindrical, further comprising;

A. a first coupleable body; and

B. a second coupleable body, wherein the first and second coupleable bodies contain a plurality of lumens, further wherein the robotic device may be assembled within the body cavity of the patient, further wherein when assembled the generally cylindrical body and lumens run substantially parallel with the support rods;

iv. a first shoulder component, operationally and rotatably coupled to the first coupleable body;

v. a first movable segmented robotic arm, operationally connected to the body component by way of the first shoulder component, said first movable segmented robotic arm further comprising a plurality of rotatably and operationally coupled segments and at least one electric motor;

vi. a first operational component operationally connected to the first robotic arm;

vii. a second shoulder component, operationally and rotatably coupled to the second coupleable body;

viii. a second movable segmented robotic arm operationally connected to the body component by way of the second shoulder component, said second movable segmented robotic arm further comprising a plurality of rotatably and operationally coupled segments and at least one electric motor; and

ix. a second operational component operationally connected to the second robotic arm; and

b. an operations system for control of the robotic device from outside the patient by way of the port and coupleable bodies, the operations system in electrical communication with the robotic device.

36. The surgical robotic system of claim 35, wherein the first operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, a suction component, an operational arm component, a sensor component, and a lighting component.

37. The surgical robotic system of claim 35, wherein the second operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, a suction component, an operational arm component, a sensor component, and a lighting component.

38. The surgical robotic system of claim 35, further comprising one or more motors for operation, rotation or movement of at least one of the first shoulder, the second shoulder, the first segmented arm, the second segmented arm, the first operational component, and the second operational component.

39. The surgical robotic system of claim 35, wherein the robotic device further comprises at least one absolute position sensor.

40. The surgical robotic system of claim 39, wherein the at least one absolute position sensor is selected from the group consisting of a magnetic absolute position encoder and a linear encoder.

41. The surgical robotic system of claim 40, wherein the magnetic absolute position sensor further comprises a pixel array and an LED array.

42. The surgical robotic system of claim 35, wherein the robotic device further comprises at least one relative position sensor.

43. The surgical robotic system of claim 35, wherein the robotic device further comprises at least one relative position sensor.

44. The surgical robotic system of claim 35, wherein the robotic device further comprises a slip ring assembly, wherein the slip ring assembly is capable of determining the position of at least one operational component.

45. A method of performing minimally invasive surgery, comprising:

a. providing a robotic device sized to be positioned and assembled within a patient further comprising;

i. a port traversing the body of a patient, wherein said port is capable of creating an insufflation seal;

ii. a plurality of support rods, wherein the support rods extend to the exterior of the patient when the robotic device is fully assembled;

iii. a generally cylindrical coupleable connection unit, operationally coupled to the support rods and extending inside the patient, wherein the generally cylindrical coupleable connection unit runs substantially parallel to the support rods when assembled, said coupleable connection unit further comprising;

A. a first coupleable body, further comprising a first shoulder component;

B. a second coupleable body, further comprising a second shoulder component, wherein the first and second coupleable bodies are capable of being inserted into the patient individually and sequentially through the port and then coupled within the patient, such that the generally cylindrical coupleable connection unit is formed within the patient and the support rods traverse the port from the exterior to interior of the patient; and

C. at least one lumen in operable communication with at least one of the first and second operational components;

iv. a first movable segmented robotic arm operationally connected to the first shoulder component;

v. a second movable segmented robotic arm operationally connected to the second shoulder component;

vi. a first operational component operationally connected to the first robotic arm; and

vii. a second operational component operationally connected to the second robotic arm; and

b. providing an operations system for control of the robotic device from outside the patient by way of the port and coupleable bodies, the operations system in electrical communication with the robotic device.