Robot for surgical applications

• US 7,372,229 B2
• Filed: 10/24/2006
• Issued: 05/13/2008
• Est. Priority Date: 07/08/2003
• Status: Expired due to Term

• Current Assignee: Virtual Incision Corporation
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Platt, Steven R., Oleynikov, Dmitry, Dumpert, Jason, Rentschler, Mark, Farritor, Shane
• Primary Examiner(s): IP, SHIK LUEN PAUL
• Application Number:
  US11/552,379
• Publication Number:
  US 20070080658A1
• Time in Patent Office: 567 Days
• Field of Search: 318/568.12, 318/568.11, 128/899, 104/138.2, 180/9.1, 600/114
• US Class Current: 318/568.12
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• CPC Class Codes: A61B 10/06 Biopsy forceps , e.g. with cup-shaped jaws
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 Micromanipulators
• CPC Class Codes: A61B 5/05 Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves impedance plethysmography A61B5/0295; measuring movement of the entire body or parts thereof A61B5/11; detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof A61B5/24
• CPC Class Codes: A61B 5/416 the spleen
• CPC Class Codes: B08B 9/045 the cleaning devices being rotated while moved , e.g. flexible rotating shaft or "snake"B08B9/047 takes precedence
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 7/00 Micromanipulators specimen supports for investigating or analysing materials G01N23/2204; associated with microscopes G02B21/32; means for supporting or positioning the objects or the material in discharge tubes H01J37/20
• CPC Class Codes: B25J 9/065 Snake robots
• CPC Class Codes: B33Y 80/00 Products made by additive manufacturing

Abstract

The present invention provides a micro-robot for use inside the body during minimally-invasive surgery. The micro-robot includes an imaging devices, a manipulator, and in some embodiments a sensor.

Claims

1. A mobile robot comprising:

(a) a body sized to operate within a cavity of an animal;

(b) a translational mobility component coupled with the body;

(c) an actuator coupled with the translational mobility component;

(d) a power supply coupled with the actuator;

(e) a controller component coupled with the actuator; and

(f) a biopsy tool coupled with the body,

wherein the mobility component is configured to apply translational pressure on a surface for purposes of mobility or immobility.

2. The robot of claim 1, wherein the biopsy tool comprises a forceps.

3. The robot of claim 1, wherein the biopsy tool comprises a grasper.

4. The robot of claim 1, wherein the biopsy tool comprises:

(a) an arm coupled with the body; and

(b) a forceps or grasper coupled with the arm.

5. The robot of claim 1, wherein the mobility component comprises at least one wheel.

6. The robot of claim 1, wherein the mobility component comprises a first wheel and a second wheel, wherein the first and second wheels are configured to rotate independently of each other.

7. The robot of claim 1, further comprising at least one imaging component coupled with the body.

8. The robot of claim 1, wherein the controller component is wirelessly coupled with the actuator.

9. The robot of claim 8, wherein the power supply is disposed within the body.

10. The robot of claim 1, wherein the controller component is coupled with the actuator via a flexible connection component.

11. The robot of claim 10, wherein the power supply is positioned externally of the animal.

12. The robot of claim 1, further comprising at least one sensor component coupled with the body.

13. A mobile robot comprising:

(a) a body sized to operate within a cavity of an animal, the body comprising a single axle;

(b) first and second mobility components coupled to the single axle, the first and second mobility components configured for translational movement;

(c) at least one actuator coupled with the first and second mobility components;

(d) a power supply coupled with the at least one actuator;

(e) a controller component coupled with the at least one actuator; and

(f) at least one biopsy tool coupled with the body.

14. The robot of claim 13, wherein the at least one motor is configured to independently propel each of the first and second mobility components, whereby the body can be steered.

15. The robot of claim 13, wherein the robot is capable of changing direction with a zero radius turn.

16. A method of performing a procedure inside an animal body, the method comprising:

inserting a mobile robotic device into an orifice of the animal body,

wherein the mobile robotic device comprises;

(a) a body;

(b) a translational mobility component coupled with the body;

(c) an actuator coupled with the translational mobility component;

(d) a controller component coupled with the actuator; and

(e) a biopsy tool coupled with the body;

positioning the robotic device into a cavity in the animal body; and

operating the controller component to cause the translational mobility

component to move the robotic device to a desired location within the cavity.

17. The method of claim 16, further comprising performing a biopsy.

18. The method of claim 16, further comprising operating the controller component to operate the biopsy tool.

19. The method of claim 16, wherein the mobility component is configured to apply translational pressure on a surface for purposes of mobility or immobility.

20. The method of claim 16, wherein the orifice comprises a natural orifice, the method further comprising:

creating an incision in a tissue of the animal body; and

inserting the device into the cavity of the animal body through the incision.