Minimally invasive medical system employing a magnetically controlled endo-robot

• US 8,187,166 B2
• Filed: 08/29/2002
• Issued: 05/29/2012
• Est. Priority Date: 08/29/2001
• Status: Active Grant

• Current Assignee: Siemens Healthcare GMBH (Siemens AG)
• Original Assignee: Siemens AG
• Inventors: Kuth, Rainer, Rupprecht, Thomas, Wagner, Maren
• Primary Examiner(s): Chen, Tse
• Assistant Examiner(s): CHAO, ELMER M
• Application Number:
  US10/231,311
• Publication Number:
  US 20030060702A1
• Time in Patent Office: 3,561 Days
• Field of Search: 600/101, 600/109, 600/117, 600/118, 600/424, 606/130
• US Class Current: 600/101
• CPC Class Codes: A61B 1/00087 Tools A61B17/00234 takes precedence
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 10/0275 with sample notch, e.g. on the side of inner stylet
• CPC Class Codes: A61B 2034/732 arranged around the patient, e.g. in a gantry
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/4839 combined with drug delivery

Abstract

A system for the implementation of minimally invasive diagnoses and interventions in the inside of the body of a patient has an endo-robot that has a linear magnet and carries measurement instruments and/or instruments for taking specimens and/or for treatment. The endo-robot is freely mobile within the body of a patient. A magnet system accepts the examination region of the patient and generates a 3D gradient field for remotely-controls movement and orientation of the endo-robot in the patient'"'"'s body by interaction with the linear magnet.

Claims

1. A system for conducting a minimally invasive medical procedure in an interior of a body of a patient, comprising:

an endo-robot having a linear magnet and being adapted for free mobility in an interior of a body of a patient; and

a housing comprising a magnet system, said housing and said magnet system forming a receptacle configured to receive at least an examination region of said patient therein, said magnet system generating a three-dimensional gradient magnetic field for remotely controlling movement and orientation of said endo-robot in said body, by interaction with said linear magnet.

2. A system as claimed in claim 1 wherein said endo-robot contains a bar magnet as said linear magnet.

3. A system as claimed in claim 1 wherein said endo-robot contains a controllable substantially linear coil as said linear magnet.

4. A system as claimed in claim 1 wherein said magnet system comprises a magnet for generating a static, basic magnetic field for compensating for the force of gravity acting on said endo-robot.

5. A system as claimed in claim 4 wherein said magnet for generating said static basic magnetic field is a superconducting magnet.

6. A system as claimed in claim 5 wherein said superconducting magnet is a magnet composed of a high-temperature superconductor.

7. A system as claimed in claim 4 comprising a control unit for controlling said magnet for generating said static basic magnetic field to compensate for a weight change experienced by said endo-robot during said medical procedure.

8. A system as claimed in claim 1 further comprising an arrangement for interacting with said patient for moving said patient relative to said magnet system.

9. A system as claimed in claim 8 wherein said arrangement comprises a patient bed, adapted to receive said patient thereon, displaceable in said magnet system.

10. A system as claimed in claim 1 wherein said endo-robot comprises an illumination device adapted to illuminate an environment surrounding said endo-robot in said body.

11. A system as claimed in claim 1 wherein said endo-robot comprises a video camera, and a transmission system for transmitting video signals from said video camera out of said patient.

12. A system as claimed in claim 1 further comprising a display on which an anatomical environment of said endo-robot in said patient is displayed, and wherein said endo-robot comprises a localization device allowing a presentation of position of said endo-robot on said display in said anatomical environment.

13. A system as claimed in claim 12 wherein said localization device comprises at least one transponder.

14. A system as claimed in claim 1 wherein said endo-robot contains an accumulator for supplying power within said endo-robot, said accumulator being rechargeable by interaction with an externally-applied alternating field.

15. A system as claimed in claim 1 further comprises a control unit for controlling said gradient magnetic field to operate said endo-robot in a helicopter mode, allowing at least one of causing said endo-robot to stand still in said patient and to move a prescribed distance in said patient.

16. A system as claimed in claim 1 further comprising an input device for adjusting said gradient magnetic field to control movement and orientation of said endo-robot in said patient by causing a force to be exerted on said endo-robot that corresponds to a force exerted on said input device.

17. A system as claimed in claim 16 wherein said input device is a 6D mouse.

18. A system as claimed in claim 1 wherein said endo-robot comprises an intervention laser.

19. A system as claimed in claim 1 wherein said endo-robot includes a release device for releasing a substance selected from the group consisting of solid medications, liquid medications, gaseous medications, contrast agents and irradiation therapy marking aids, at a specific location within said body.

20. A system as claimed in claim 1 wherein said endo-robot is sterilizeable.

21. A system as claimed in claim 1 further comprising a magnet adapted to be secured at an exterior of the body of said patient for causing said endo-robot to be maintained in a parking position in said patient after said patient exits said magnet system.

22. A system as claimed in claim 1 comprising at least one medical device carried by said endo-robot, selected from the group consisting of measurement devices, instruments, specimen devices and treatment devices.