Multifunctional Operational Component for Robotic Devices

• US 20180153631A1
• Filed: 02/05/2018
• Published: 06/07/2018
• Est. Priority Date: 06/22/2006
• 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, Lehman, Amy, Rentschler, Mark, Wood, Nathan, Dumpert, Jason, Oleynikov, Dmitry
• Granted Patent: US 10,376,323 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 2017/00283 with a device releasably connected to an inner wall of the abdomen during surgery, e.g. an illumination source
• CPC Class Codes: A61B 34/30 Surgical robots
• 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 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: B33Y 80/00 Products made by additive manufacturing

Abstract

The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.

Claims

1. A robotic device, comprising:

(a) a device body;

(b) a connection component operably coupled with the device body;

(c) a first operational arm constructed and arranged to be positionable within a cavity of a patient, the first operational arm comprising;

(i) a first inner arm segment operably coupled with the device body via a first shoulder joint;

(ii) a first outer arm segment operably coupled with the first inner arm segment via a first elbow joint; and

(iii) a first procedural tool operably coupled with the first outer arm segment;

(e) a second operational arm constructed and arranged to be positionable within a cavity of a patient, the second operational arm comprising;

(i) a second inner arm segment operably coupled with the device body via a second shoulder joint;

(ii) a second outer arm segment operably coupled with the second inner arm segment via a second elbow joint; and

(iii) a second procedural tool operably coupled with the second outer arm segment; and

(f) at least one actuator disposed within each arm, the at least one actuator operably coupled to the arm, wherein the actuator is configured to actuate movement of the arm,

wherein the first and second operational arms are configured such that the first and second operational arms are not positionable within an enclosure of the robotic device.

2. The robotic device of claim 1, wherein each of the first and second operational arms has at least four degrees of freedom.

3. The robotic device of claim 1, further comprising:

(a) at least one imaging component operably coupled to the device body; and

(b) an external controller operably coupled to the device body, the external controller comprising;

(i) an image display component operably coupled to the at least one imaging component, the image display component configured to display images acquired by the at least one imaging component; and

(ii) at least one joystick operably coupled to at least one of the first and second operational arms, the at least one joystick configured to control the at least one of the first and second operational arms.

4. The robotic device of claim 1, wherein each of the first and second operational arms has at least three degrees of freedom.

5. The robotic device of claim 1, wherein the first and second procedural tools are each chosen from a group consisting of a scalpel, a biopsy tool, a cauterizer, a forceps, a dissector, clippers, a stapler, and an ultrasound probe.

6. The robotic device of claim 1, wherein the connection component is a tether.

7. The robotic device of claim 6, further comprising an external power source operably coupled to the tether.

8. The robotic device of claim 1, wherein the at least one actuator comprises a motor.

9. The robotic device of claim 1, further comprising at least one imaging component operably coupled with the device body, wherein the at least one imaging component is disposed between the first and second operational arms such that the first and second operational arms are viewable by a user via the at least one imaging component during operation of the first and second operational arms.

10. The robotic device of claim 9, further comprising an external controller operably coupled to the first and second operational arms and the at least one imaging component.

11. The robotic device of claim 10, wherein the external controller comprises:

(a) an image display component operably coupled to the at least one imaging component, the image display component configured to display images acquired by the at least one imaging component; and

(b) at least one joystick operably coupled to at least one of the first and second operational arms, the at least one joystick configured to control the at least one of the first and second operational arms.

12. A robotic device, comprising:

(a) a device body;

(b) a connection component operably coupled with the device body;

(c) a first operational arm constructed and arranged to be positionable within a cavity of a patient, the first operational arm comprising;

(i) a first inner arm segment operably coupled with the device body via a first shoulder joint;

(ii) a first outer arm segment operably coupled with the first inner arm segment via a first elbow joint; and

(iii) a first procedural tool operably coupled with the first outer arm segment;

(d) a second operational arm constructed and arranged to be positionable within a cavity of a patient, the second operational arm comprising;

(i) a second inner arm segment operably coupled with the device body via a second shoulder joint;

(ii) a second outer arm segment operably coupled with the second inner arm segment via a second elbow joint; and

(iii) a second procedural tool operably coupled with the second outer arm segment;

(f) at least one actuator disposed within each arm, the at least one actuator operably coupled to the arm, wherein the actuator is configured to actuate movement of the arm; and

(g) at least one imaging component operably coupled with the device body,

wherein the first and second operational arms are configured such that the first and second operational arms are not positionable within an enclosure of the robotic device.

13. The robotic device of claim 12, wherein each of the first and second operational arms has at least three degrees of freedom.

14. The robotic device of claim 12, wherein each of the first and second operational arms has at least four degrees of freedom.

15. The robotic device of claim 12, further comprising an external controller operably coupled to the at least one imaging component and the first and second operational arms, the external controller comprising:

(a) an image display component operably coupled to the at least one imaging component, the image display component configured to display images acquired by the at least one imaging component; and

(b) at least one joystick operably coupled to at least one of the first and second operational arms, the at least one joystick configured to control at least one of the first and second operational arms.

16. The robotic device of claim 12, wherein the first and second procedural tools are each chosen from a group consisting of a scalpel, a biopsy tool, a cauterizer, a forceps, a dissector, clippers, a stapler, and an ultrasound probe.

17. A method of surgery comprising:

making an incision in a patient, wherein the incision provides access to a target cavity in the patient;

inserting a robotic device through the incision and into the target cavity in the patient, the robotic device comprising;

(a) a device body;

(b) a connection component operably coupled with the device body;

(c) a first operational arm constructed and arranged to be positionable within a cavity of a patient, the first operational arm comprising;

(i) a first inner arm segment operably coupled with the device body via a first shoulder joint;

(ii) a first outer arm segment operably coupled with the first inner arm segment via a first elbow joint; and

(iii) a first operational component operably coupled with the first outer arm segment;

(e) a second operational arm constructed and arranged to be positionable within a cavity of a patient, the second operational arm comprising;

(i) a second inner arm segment operably coupled with the device body via a second shoulder joint;

(ii) a second outer arm segment operably coupled with the second inner arm segment via a second elbow joint; and

(iii) a second operational component operably coupled with the second outer arm segment;

wherein the first and second operational arms are configured such that the first and second operational arms are not positionable within an enclosure of the robotic device; and

(f) at least one actuator disposed within each arm, the at least one actuator operably coupled to the arm, wherein the actuator is configured to actuate movement of the arm; and

performing a procedure in the target cavity of the patient using at least the robotic device.

18. The method of claim 17, wherein making the incision in the patient comprises making no more than two incisions in the patient.

19. The method of claim 17, wherein performing the procedure further comprises performing the procedure using the robotic device and at least one additional device.

20. The method of claim 17, wherein performing the procedure further comprises operating an external controller operably coupled to the at least one actuator, wherein the external controller is configured to transmit instructions to the at least one actuator for actuating movement of the arms.