Robotic surgical devices, systems, and related methods

• US 20140100587A1
• Filed: 10/09/2012
• Published: 04/10/2014
• Est. Priority Date: 08/08/2012
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Farritor, Shane, Mumm, Erik, Chu, Philip, Kumar, Nishant, Dumpert, Jason, Tsutano, Yutaka
• Granted Patent: US 9,770,305 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 2017/2906 Multiple forceps
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2217/005 with suction drainage system
• CPC Class Codes: A61B 2217/007 with irrigation system
• CPC Class Codes: A61B 34/00 Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
• 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

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. A modular surgical robotic system, comprising:

a. a modular robotic device sized to be positioned completely within a patient further comprising;

i. a body component further comprising a first shoulder component and a second shoulder component;

ii. a first movable segmented robotic arm operationally connected to the body component by way of the first shoulder component;

iii. a second movable segmented robotic arm operationally connected to the body component by way of the second shoulder component;

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

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

b. a port traversing the body of a patient;

c. a support rod for crossing the port from the interior to exterior of the patient and connecting to the first and second body components; and

d. an operations system for control of the modular robotic device from outside the patient by way of the port and support rod, the operations system in electrical communication with the modular robotic device.

2. The modular surgical robotic system of claim 1, wherein the modular robotic device may be assembled within the body cavity of the patient.

3. The modular surgical robotic system of claim 2, wherein the support rod is further comprised of a first support rod segment and a second support rod segment.

4. The modular surgical robotic system of claim 3, wherein the first support rod component and second support rod component are rotationally coupled to the first shoulder component and second shoulder component, respectively.

5. The modular surgical robotic system of claim 4, wherein the support rod is substantially enclosed in an overtube.

6. The modular surgical robotic system of claim 1, wherein the body component is cylindrical.

7. The modular surgical robotic system of claim 1, wherein the first shoulder component and second shoulder component are set at an obtuse angle from one another.

8. The modular surgical robotic system of claim 1, 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 operational arm component, a sensor component, and a lighting component.

9. The modular surgical robotic system of claim 1, 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 operational arm component, a sensor component, and a lighting component.

10. The modular surgical robotic system of claim 1, 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.

11. The modular surgical robotic system of claim 1, wherein the port creates an insufflation seal in the body.

13. The modular surgical robotic system of claim 11, wherein the modular robotic device may be assembled within the body cavity of the patient.

14. The modular surgical robotic system of claim 11, wherein the body component is cylindrical.

15. The modular surgical robotic system of claim 11, wherein the first shoulder component and second shoulder component are set at an obtuse angle from one another.

16. The modular surgical robotic system of claim 11, 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 operational arm component, a sensor component, and a lighting component.

17. The modular surgical robotic system of claim 11, 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 operational arm component, a sensor component, and a lighting component.

18. The modular surgical robotic system of claim 11, 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.

19. The modular surgical robotic system of claim 11, wherein the port creates an insufflation seal in the body.

12. A modular surgical robotic system, comprising:

a. a modular robotic device sized to be positioned completely within a patient further comprising;

i. a first shoulder component;

ii. a second shoulder component;

iii. a body component, formed by the connection of the first shoulder component to the second shoulder component;

a support rod, further comprising a first support rod component rotationally coupled to the first shoulder component and capable of being joined to form the support rod with a second support rod component rotationally coupled to the second shoulder component;

iv. an overtube capable of covering the support rod;

v. a first movable segmented robotic arm operationally connected to the body component by way of the first shoulder component;

vi. a second movable segmented robotic arm operationally connected to the body component by way of the second shoulder component;

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

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

b. a port traversing the body of a patient;

c.

d. an operations system for control of the modular robotic device from outside the patient by way of the port and support rod, the operations system in electrical communication with the modular robotic device.

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

a. providing a modular robotic device sized to be positioned completely within a patient further comprising;

i. a body component further comprising a first shoulder component and a second shoulder component;

ii. a first movable segmented robotic arm operationally connected to the body component by way of the first shoulder component;

iii. a second movable segmented robotic arm operationally connected to the body component by way of the second shoulder component;

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

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

b. providing a fluidly sealed port disposed across the body cavity wall of a patient and transversed by the support beam and support rods.

c. providing a support rod for crossing the port from the interior to exterior of the patient and connecting to the first and second body components, said support rod being further comprised of at least one rod component;

d. inserting the modular surgical robotic system components into the body of the patient by way of the port using the support rod; and

e. assembling the modular surgical robotic system inside the body of the patient for use.