Robotic devices with agent delivery components and related methods

• US 8,179,073 B2
• Filed: 05/13/2011
• Issued: 05/15/2012
• Est. Priority Date: 07/08/2003
• Status: Expired due to Term

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Farritor, Shane M., Oleynikov, Dmitry, Platt, Stephen R., Rentschler, Mark, Dumpert, Jason, Hadzialic, Adnan, Wood, Nathan A.
• Primary Examiner(s): Ip, Paul
• Application Number:
  US13/107,272
• Publication Number:
  US 20110224605A1
• Time in Patent Office: 368 Days
• Field of Search: 318/568.12, 318/568.11, 318/587, 600/114, 600/424, 600/101, 700/253, 604/95.01, 604/82, 604/93.01, 604/500, 606/130, 606/139, 128/899, 104/138.1
• US Class Current: 318/568.11
• CPC Class Codes: A61B 1/00156 using self propulsion
• CPC Class Codes: A61B 1/00188 with focusing or zooming features
• CPC Class Codes: A61B 1/313 for introducing through surgical openings, e.g. laparoscopes
• CPC Class Codes: A61B 10/06 Biopsy forceps , e.g. with cup-shaped jaws
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00044 Sensing electrocardiography, i.e. ECG
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/2943 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/306 using optical fibres
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/72 Micromanipulators
• 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: A61M 5/19 having more than one chamber , e.g. including a manifold coupling two parallelly aligned syringes through separate channels to a common discharge assembly surgical glue applicators A61B17/00491
• CPC Class Codes: A61M 5/20 Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically A61M5/142 , A61M5/46 take precedence; hypodermic projectiles F42B12/54
• CPC Class Codes: A61M 5/2066 comprising means for injection of two or more media, e.g. by mixing
• CPC Class Codes: B25J 18/00 Arms
• CPC Class Codes: B33Y 80/00 : Products made by additive manufacturing
• CPC Class Codes: Y10S 901/02 : Arm motion controller
• CPC Class Codes: Y10S 901/28 : Joint
• CPC Class Codes: Y10S 901/30 : End effector

Abstract

Various robotic devices and related medical procedures are disclosed herein. Each of the various robotic devices have an agent delivery component. The devices include mobile robotic devices and fixed base robotic devices as disclosed herein. The agent delivery component can have at least one agent reservoir and a discharge component in fluidic communication with the at least one reservoir.

Claims

1. A robotic device for surgical procedures, the device comprising:

(a) a body comprising a camera disposed within the body;

(b) a rotation component pivotally coupled with the body, the rotation component comprising at least one of a pan component and a tilt component; and

(c) a non-attachable support component coupled with the body, wherein the body, rotation component, and support component are sized to fit within a body cavity of a patient.

2. The robotic device of claim 1, wherein the non-attachable support component is moveable between a collapsed configuration and a deployed configuration.

3. The robotic device of claim 1, wherein the non-attachable support component is a collapsible tripod.

4. The robotic device of claim 1, wherein the camera comprises an adjustable-focus component.

5. The robotic device of claim 1, wherein the body is substantially cylindrical.

6. The robotic device of claim 1, further comprising an external controller operably coupled with the robotic device.

7. The robotic device of claim 6, wherein the external controller is wirelessly coupled with the robot.

8. A robotic system for surgical procedures, the system comprising:

(a) a robotic device sized to fit within a body cavity of a patient, the device comprising;

(i) a cylindrical device body comprising a camera disposed within the device body;

(ii) a rotation component pivotally coupled with the body;

(iii) a non-attachable support component coupled with the body, wherein the body, rotation component, and support component are sized to fit within a body cavity of a patient; and

(b) an external controller operably coupled with the robot.

9. The robotic system of claim 8, wherein the external controller is wirelessly coupled with the robot.

10. The robotic system of claim 8, wherein the non-attachable support component is moveable between a collapsed configuration and a deployed configuration.

11. The robotic system of claim 8, wherein the rotation component comprises at least one of a pan component and a tilt component.

12. The robotic system of claim 8, wherein the camera comprises an adjustable-focus component.

13. The robotic system of claim 12, wherein the adjustable-focus component comprises:

(a) an adjustable focus motor;

(b) a lead screw operably coupled to the motor; and

(c) a lead nut rotatably coupled to the lead screw, wherein the lead nut is operably coupled to the camera.

14. The robotic system of claim 8, further comprising a light source operably coupled to the device body.

15. A robotic system for surgical procedures, the system comprising:

(a) a robotic device sized to fit within a body cavity of a patient, the device comprising;

(i) a cylindrical device body comprising a camera disposed within the device body;

(ii) an adjustable-focus component disposed within the device body, the adjustable-focus component comprising;

(A) an adjustable focus motor;

(B) a lead screw operably coupled to the motor; and

(C) a lead nut rotatably coupled to the lead screw, wherein the lead nut is operably coupled to the camera; and

(iii) a non-attachable support component coupled with the device body, wherein the body and support component are sized to fit within a body cavity of a patient; and

(b) an external controller operably coupled with the robot.

16. The robotic system of claim 15, wherein the external controller is wirelessly coupled with the robotic device.

17. The robotic system of claim 15, wherein the non-attachable support component is moveable between a collapsed configuration and a deployed configuration.

18. The robotic system of claim 15, the system further comprising a rotation component pivotally coupled with the device body.

19. The robotic system of claim 18, wherein the rotation component comprises at least one of a pan component and a tilt component.