Robotic Surgical Devices, Systems, and Related Methods

• US 20140303434A1
• Filed: 03/14/2014
• Published: 10/09/2014
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Virtual Incision Corporation
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Farritor, Shane, Santoro, Chris, Shasho, Jeff, Kumar, Nishant, Herman, Jason, Szczesiak, Mateusz
• Granted Patent: US 10,667,883 B2
• Time in Patent Office: Days
• US Class Current: 600/102
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/3132 for laparoscopy
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3423 Access ports, e.g. toroid shape introducers for instruments or hands access sites for liquids A61M39/0247
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• 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 90/35 Supports therefor
• 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

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 surgical robotic system, comprising:

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

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

i. a generally tubular support body comprising distal and proximal end regions defining a central axis, wherein the distal region of the body is capable of partially traversing the port from the exterior to interior of the patient, the body further comprising a first shoulder joint and a second shoulder joint, the first and second shoulder joints being capable of independent rotation relative to the axis of the body;

ii. a first movable segmented robotic arm operationally connected to the first shoulder joint and further comprising a first operational component; and

iii. a second movable segmented robotic arm operationally connected to the second shoulder joint and further comprising a second operational component, wherein the first and second moveable segmented arms are capable of being positioned substantially in line with the central axis of the generally tubular support body for insertion by way of the port; and

c. a console for control of the robotic device from outside the patient by way of the support body, the console in electrical communication with the robotic device.

2. The surgical robotic system of claim 1, wherein the robotic device comprises at least one actuator 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.

3. The surgical robotic system of claim 2, wherein the at least one actuator is a brushless DC motor.

4. The surgical robotic system of claim 3, further comprising a rigid-flex PCB in operational communication with the actuator.

5. The surgical robotic system of claim 4, wherein the first movable segmented robotic arm further comprises:

a. an upper arm segment;

b. an elbow joint; and

c. a lower arm segment, wherein the upper arm segment is configured to be capable of roll, pitch and yaw relative to the shoulder joint and the lower arm is configured to be capable of yaw relative to the upper arm by way of the elbow joint.

6. The surgical robotic system of claim 5, 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.

7. The surgical robotic system of claim 5, 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.

8. A surgical robotic system, comprising:

a. a robotic device sized to be positioned within a patient, the device further comprising;

i. a generally tubular body;

ii. a first shoulder component;

iii. a second shoulder component;

iv. a first upper robotic arm segment operationally connected to the body component by way of the first shoulder component so as to be capable of roll, pitch and yaw relative to the body; and

v. a second upper robotic arm segment operationally connected to the body component by way of the second shoulder component so as to be capable of roll, pitch and yaw relative to the body; and

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

9. The surgical robotic system of claim 8, wherein the robotic device further comprises:

a. a first lower robotic arm segment further comprising an elbow joint;

b. a second lower robotic arm further segment comprising an elbow joint;

c. a first operational component operationally connected to the first lower robotic arm segment; and

d. a second operational component operationally connected to the second lower robotic arm segment, wherein the first lower arm and second lower arm are configured to be capable of yaw relative to the upper arm by way of the elbow joint.

10. The surgical robotic system of claim 9, wherein the robotic device comprises at least one actuator for operation, rotation or movement of at least one of the first shoulder, the second shoulder, the first upper robotic arm segment, the second upper robotic arm segment, the first lower robotic arm segment, the second lower robotic arm segment, the first operational component, and the second operational component.

11. The surgical robotic system of claim 10, wherein the at least one actuator is a brushless DC motor.

12. The surgical robotic system of claim 11, further comprising a rigid-flex PCB in operational communication with the actuator.

13. The surgical robotic system of claim 10, 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.

14. The surgical robotic system of claim 10, 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.

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

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

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

i. a generally tubular support body comprising distal and proximal end regions defining a central axis, wherein the distal region of the body is capable of partially traversing the port from the exterior to interior of the patient, the body further comprising a first shoulder joint and a second shoulder joint, the first and second shoulder joints being capable of independent rotation relative to the axis of the body;

ii. a first movable segmented robotic arm operationally connected to the first shoulder joint and further comprising a first operational component;

iii. a second movable segmented robotic arm operationally connected to the second shoulder joint and further comprising a second operational component, wherein the first and second moveable segmented arms are capable of being positioned substantially in line with the central axis of the generally tubular support body for insertion by way of the port; and

c. providing a console for control of the robotic device from outside the patient by way of the support body, the console in electrical communication with the robotic device.